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

Table 7

The comparison between different controllers (perturbation 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 (%)	52	72	80	86
Rh (%)	49	61	68	78
Sp	0.012	0.028	0.037	0.041
Sh	0.008	0.026	0.028	0.036