Multiple Model Adaptive Nonlinear Observer of Dynamic Positioning Ship

Table 1

Supply vessel main particulars.

Over length	175.00 m
Breadth	25.40 m
Design draught	9.50 m
M	10^7  ×  [2.64 0 0; 0 3.34 1.49; 0 1.49 652.09]
D	10^5  ×  [0.22 0 0; 0 2.22 −17.75; 0 −17.75 715.06]