Multiple constrained dynamic controller design problems associated with steering of ship yaw motion are discussed in this paper. The multiple constraints considered here contain individual state variance constraints, robust performance (H.. norm) constraints and regional pole assignment (D-stability) constraints. The necessary and sufficient conditions for the existence of the constrained dynamic controller, which achieves the above three constraints, will be derived. Under achieving these conditions, the dynamic controllers will be solved by using the well known singular value decomposition (SVD) techniques and the theory of generalized inverses. Finally, a numerical simulation is given to show the usefulness and applicability of the present approach.

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