Linear Matrix Inequalities Based Actuator Saturated Robust H-2 State Feedback Controller for Roll Motion of a Ship

Gülay Goktas, Mert Sever, Hakan Yazici, Ibrahim Beklan Kucukdemiral

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper is concerned with the design of active control system for ship roll motion. Linear Matrix Inequalities (LMI) based robust H2 state feedback controller with saturated actuators is designed. The system is modelled by the second order nonlinear roll dynamics and first order actuator dynamics. To design a robust controller, the nonlinear parts of roll Dynamics treated as norm bounded parametric uncertainty. Time domain simulation results, acquired by using wave disturbance of ship roll natural frequency show that proposed controller is very effective in reducing rol motion amplitudes by applicable control signal magnitude and guarantees closed loop stability against various service speeds.
Original languageUndefined/Unknown
Title of host publicationTOK’2015 Otomatik Kontrol Türk Milli Komitesi Ulusal Toplantisi
EditorsSelami Beyhan , Serdar Iplikçi
PublisherPamukkale Üniversitesi
Number of pages6
ISBN (Print)9789756992609
Publication statusPublished - 2015


  • linear matrix inequalities
  • actuator saturation
  • state feedback

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