ship「s steering and control problem can be formulated as a state-space control problem of a four-order linear system subject to environment disturbances, parameter perturbations and modelling errors.」
船舶的操纵与控制问题可以归结为一个四阶线性系统在环境干扰、参数摄动与建模误差同时存在时的状态空间控制问题。