Ah.?trmt-Linear quadratic Gaussian (LQC) control algorithm linked to Recursive Least Squares (RLS) algorithm bas been applied to a multivnrirte ado-regressive erogenous (MARY) model of ships lo C O O S~~U C~ a ship autopilot. It has been found from computer simulation and full-scale experiments aboard a training ship that the autopilot is robust and has good features in botb r o~r s e keeping and course changing maneuvers.
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