An adaptive rudder controller was designed by using back stepping method with consideration of model errors.
考虑建模误差，采用反步法设计了自适应舵角控制律。
For steady computation, local time step method is used; for unsteady computation, dual time stepping method is used.
定常计算采用当地时间步法，非定常计算采用双时间步法。
The numerical method uses finite volume method in space and advances the solution in time using dual time stepping method.
空间采用中心平均的有限体积法进行离散，时间方向采用双时间法隐式推进求解。
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