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

Table 9

The comparison between different controllers when WPC affected by sea state 4/6 waves.

Parameter	Sea state 4		Sea state 6
Controller	PD	H2/H∞ with MBPSO	PD	H2/H∞ with MBPSO
Rp (%)	62	91	38	73
Rh (%)	58	89	36	57
Sp	0.014	0.048	0.009	0.035
Sh	0.011	0.044	0.007	0.032