The impact of control system design on ship performance has been significant in different applications of ship motion control: course keeping, station keeping, roll stabilisation and vertical motion/riding control, diving, path following, etc. This monograph introduces ship motion control by studying the particular problems of control system design for course autopilots with rudder roll stabilisation and combined ruddera "fin stabilisers. Ship Motion Control revisits the ingredients that make these control designs challenging and proposes a contemporary control system design approach to meet that challenge.

The key ingredients for a successful ship motion control system design are:

• appropriate mathematical models of the ship and the disturbances;
• understanding of how performance will be assessed;
• knowledge of fundamental limitations that may prevent designs from achieving the desired performance.

The book is organised in four parts, the first three dealing with each of these and the fourth part addressing control system design.

Specific topics covered include:

• modelling and simulation of ocean waves;
• ship dynamics;
• models of actuators;
• ship roll stabilisation devices;
• ship motion performance;
• analysis of fundamental limitations for stabiliser control system design;
• constrained control design via optimisation;
• autopilot design using optimal control;
• wave filtering;
• control system design for autopilots with rudder roll stabilisation;
• control system design for integrated rudder-fin stabiliser.

Ship Motion Control willbe of interest not only to the practising marine engineer but to the academic engaged in research into this important control problem, even if new to the area. It will also be an ideal source of reference for students and tutors involved with marine and control engineering courses.

This book presents a novel unified treatment of inverse problems in optimal control and noncooperative dynamic game theory. It provides readers with fundamental tools for the development of practical algorithms to solve inverse problems in control, robotics, biology, and economics. The treatment involves the application of Pontryagin's minimum principle to a variety of inverse problems and proposes algorithms founded on the elegance of dynamic optimization theory. There is a balanced emphasis between fundamental theoretical questions and practical matters. The text begins by providing an introduction and background to its topics. It then discusses discrete-time and continuous-time inverse optimal control. The focus moves on to differential and dynamic games and the book is completed by consideration of relevant applications. The algorithms and theoretical results developed in Inverse Optimal Control and Inverse Noncooperative Dynamic Game Theory provide new insights into information requirements for solving inverse problems, including the structure, quantity, and types of state and control data. These insights have significant practical consequences in the design of technologies seeking to exploit inverse techniques such as collaborative robots, driver-assistance technologies, and autonomous systems. The book will therefore be of interest to researchers, engineers, and postgraduate students in several disciplines within the area of control and robotics.

engineers into a single volume whilst concentrating on two important research control design problems: autopilots with rudder-roll stabilization and fin and combined rudder-fin stabilization. He has been guided by some of the leading marine control academics, in particular Mogens Blanke and Thor Fossen; indeed Chapters 3 and 4 on kinematics and kinetics of ship motion are jointly authored with Professor Fossen. There are some 240 cited references - an invaluable resource for interested readers. The volume is likely to appeal to a wide range of readers who will each be able to extract something different from the various parts of the monograph. Part I has some four chapters on the modelling fundamentals including kinematics, dynamics and actuators. Part II is a very useful survey of the ship roll stabilization problem and how ship roll performance is measured and assessed. This clearly motivates the human necessity for roll-reduction and roll stabilization. Parts III and IV move on to the control systems aspects of the various stabilization designs. Valuable material here includes a study of system performance limitations as caused by the presence of non-minimum phase characteristics and actuator saturation. Chapter 10 has an interesting historical review of these marine control problems stretching back some thirty-years into the 1970s.