Optimised output sensitivity loop shaping controller for ship Rudder Roll Damping

P. Raspa, E. Torta, G. Ippoliti, M. Blanke, S. Longhi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)


This paper describes the design of a Rudder Roll Damping (RRD) controller based on the linear model of the ship to cope the wave disturbances. A preliminary study of fundamental limitations for linear feedback controllers provides suggestions for the controller design. The RRD is derived using the Internal Model Principle and the optimisation theory. The proposed method directly shapes the output sensitivity function that relates the wave disturbance to ship roll motion. A non-linear constraint optimisation problem is then developed to choose controller parameters in order to make the closed-loop system satisfy specifications and constraints. Numerical results from simulations indicate reasonable roll reduction compared with Minimum Variance Cheap Limiting Optimal Control (MV-CLOC).

Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902661937
Publication statusPublished - 2011

Publication series

NameIFAC Proceedings Volumes
Number1 PART 1
ISSN (Print)1474-6670


  • Control architectures in marine systems
  • Guidance and control
  • Marine system navigation
  • Ship Roll Damping

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