H2/H∞ Antivertical Controller Based on Particle Swarm Optimization (PSO) Using Active T-Foils and Trim Tabs for a Fast Catamaran

Table 6

The comparison between different controllers (nominal system) when WPC affected by sea state 5 waves.

Parameter	Sea state 5
Controller	PD	H2/H∞ with LMI	H2/H∞ with PSO	H2/H∞ with MBPSO
Rp (%)	58	74	82	88
Rh (%)	55	64	71	82
Sp	0.013	0.03	0.039	0.043
Sh	0.01	0.029	0.031	0.04