Uniform Design of Heading and Track Controllers for Ship Autopilot

Uniform approach to selection of PID settings for heading and path tracking controllers that create a cascade control system ship autopilot is presented. Uniformity the design follows from observation each controlled plant looks like an integrator with time constant. In case controller, represented by known Nomoto model. Due elimination constant closed loop systems becomes 2nd order. One assumes such should have double constant, different in prescribed ratio plant. It shown controller designed this way suppresses disturbances better than standard settings.