Nonlinear optimal control for ship propulsion with the use of an induction motor and a drivetrain

A nonlinear optimal (H-infinity) control method is proposed for an electric ship's propulsion system that consists of an induction motor, a drivetrain and a propeller. The control method relies on approximate linearization of the propulsion system's dynamic model using Taylor-series expansion and on the computation of the state-space description's Jacobian matrices. The linearization takes place around a temporary equilibrium which is recomputed at each time-step of the control method. For the approximately linearized model of the ship's propulsion system, an H-infinity (optimal) feedback controller is developed. For the computation of the controller's gains an algebraic Riccati equation is solved at each iteration of the control algorithm.The stability properties of the control method are proven through Lyapunov analysis,