第五章，将非线性系统变结构控制方法应用于带有执行机构的船舶航向保持系统。
In the fifth chapter, the variable structure control methods of nonlinear systems are used in the ship's course-keeping system with actuator dynamics.
针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒pid控制器，该非线性PID控制器由非线性函数项和鲁棒pid控制器组成。
For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm.
针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒pid控制器，该非线性PID控制器由非线性函数项和鲁棒pid控制器组成。
For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm.
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