本文在神经网络直接控制船舶运动控制基础上，引入闭环增益成形算法构成闭环控制，以提高系统对环境干扰和过程参数摄动的鲁棒性。

But the robust performance is improved obviously when the closed loop gain shaping control algorithm is introduced into the ship motion system on the basis of neural network control in the thesis.

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本文将高增益反馈系统的鲁棒稳定化问题作为鲁棒正实性实现问题进行研究。

The paper studies the problem of Robust stabilization of high gain feedback system as that of the realization of Robust positive realness.

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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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