@article{Rybczak_Rak_2020,
	author = {Rybczak, Monika and Rak, Andrzej},
	title = {Prototyping and Simulation Environment of Ship Motion Control System},
	journal = {TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation},
	volume = {14},
	number = {2},
	pages = {367-374},
	year = {2020},
	url = {./Article_Prototyping_and_Simulation_Environment_Rybczak,54,1013.html},
	abstract = {Authors of this paper describe the test-bench used for ship motion control system prototyping. This tool is built with the PC-type hardware and the Matlab-Simulink software. The scale model of the VLCC tanker was chosen as a control object. This model is used on a lake as a shiphandling training vessel. The complex, nonlinear mathematical model of this training vessel was used in the test-bench simulations. Authors describe two types of them: the non-real-time (software) and the real-time (harware-in-the-lop) one. As an example of usability, results of the MIMO LMI controller tests of the ship velocities in 3DOF were shown.},
	doi = {10.12716/1001.14.02.13},
	issn = {2083-6473},
	publisher = {Gdynia Maritime University, Faculty of Navigation},
	keywords = {Control System, Multiple Input, Multiple Output (MIMO), Simulation, Degrees-of-Freedom (DOF), Very Large Crude Carrier (VLCC), Matlab-Simulink, High Precision Network (HPN), HIL Controller}
}