A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.1996pt" id="M1" height="15.599pt" version="1.1" viewBox="-0.0657574 -11.3994 17.6499 15.599" width="17.6499pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-77" d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"/></g><g transform="matrix(.012,0,0,-0.012,10.948,4.134)"><path id="g50-51" d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"/></g></svg>-Gain Disturbance Rejection

<div>The curves of <svg height="6.1673pt" id="M161" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 6.40217 6.1673" width="6.40217pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M471 456L444 459C426 433 414 430 388 430C324 430 270 434 216 434C103 434 51 374 23 338L43 317C96 366 146 380 221 375L154 109C149 86 147 68 147 52C147 4 168 -12 197 -12C240 -12 291 25 334 71L320 96C295 75 268 58 252 58C238 58 227 79 238 138C251 211 272 296 292 372C310 372 332 368 350 368C391 368 421 369 434 371C444 388 455 413 471 456Z" id="g113-241"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="483" vert-adv-y="483"></glyph.data></g></svg> with environmental disturbances.</div>

Journal of Control Science and Engineering

fig8

Figure 8

Figure 8: A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.1996pt" id="M1" height="15.599pt" version="1.1" viewBox="-0.0657574 -11.3994 17.6499 15.599" width="17.6499pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-77" d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"/></g><g transform="matrix(.012,0,0,-0.012,10.948,4.134)"><path id="g50-51" d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"/></g></svg>-Gain Disturbance Rejection 

Journal of Control Science and Engineering

A Nonlinear Robust Controller Design for Ship Dynamic Positioning Based on -Gain Disturbance Rejection

Figure 8