Fault-Tolerant Supervisory Control for Dynamic Positioning of Ships

Table 1

Main simulation parameters.

Symbol	Parameter values
M	3.64,0,0;0,4.35,2.49;0,2.49,7520.95
D	3.22,0,0;0,3.22,-2.78;0,-2.78,815.06
	diag1000,1000,1000
	diag50000,56000,500000
	diag-0.81,-0.81,-0.81
	diag-0.18,-0.18,-0.18
	diag0,1,1,1,1,1
	diag1,1,1,1,0,1
	diag0,1,1,0,1,0
	diag1,0,1,0,1,1
	000011;111100;50.4,41.8,-35.7,-45,4.5,-4.5