Design of generalized minimum variance control for improving ship's steering performance on low speed

Ship's handling is difficult because the response of ship's maneuver is slow with the big inertia. First, this study identifies the ship maneuverability, which is expressed as Auto-Regressive Moving Average (ARMA) model, by steering. Second, a time delay of the angular velocity is verified. Finally, this study design a ship's steering control system. The angular velocity is controlled by applying Generalized Minimum Variance Control (GMVC) of predictive control method. Especially, GMVC's control method is arranged by adding a operating limit for the ship's steering control.