Mj. Paulsen et O. Egeland, PASSIVE OUTPUT-FEEDBACK AND OBSERVER-BASED AUTOPILOTS - A COMPARATIVE-STUDY, Modeling, identification and control, 17(2), 1996, pp. 121-133
Two methods for course-keeping of a ship are studied where no measurem
ents of the yaw rate are available. The two methods are a passive outp
ut feedback controller and a controller-observer structure. A comparis
on with special attention to stability and wave filtering properties,
is provided. Finally, a case study of a ship autopilot is included.