Robust Fin Roll Stabiliser Controller Design

Abstract A roll stabiliser controller for a frigate is designed using Quantitative Feedback Theory (QFT) to be robust to parametric changes in the model describing the ship and fins. The essential concepts behind QFT and the design steps in the controller design are explained. Simulations at different speeds, sea states and headings demonstrate the robust performance of the controller. The uncertainty description used for QFT is compared with the description used for H-infinity controller design. This design exercise provides a component of a design technique comparison exercise which should aid in the choice of control design techniques for marine applications.