tel.: +385 1 459 44 44, fax: +385 1 459 44 69

E-mail: ured@znanost.hr

- Paper in journal
*0*

- Paper in proceedings
*22*

- Mentorship
*4*

- Computer program
*1*

- Survey/Study
*2*

- Invited lecture
*1*

- Other
*2*

**Type of paper**:*Paper in journal*

**Title:**Quasi-Linearization and Nonlinear System Sinthesis

**Authors:**- Vukić, Zoran (74412)
- Novinc, Vedrana

**Journal**: Automatika

**Number**: 5

**ISSN**: 0005-1144

**Volume**: 32

**Year**: 1992

**Pages**: from 165 to 172

**Number of references**: 9

**Language**: hrvatski

**Summary**: One approach to the nonlinear-system design using thesimultaneous stabilization method and parameter optimization isgiven and demonstrated on one example. Quasi-linearization ofnonlinear system, using frequency response and time response, issuggested. The structure and starting parameters of thelinearized model are based on the frequency response while thetime response of the nonlinear system have been used for fineparameter tuning. Because the system behaviour depends on someproperties of the input, linearization has been performed fordifferent forms of input signal. Using linearized models,simultaneous stabilization and parameter optimization method forcontroller design is performed. It is shown that obtaindcontroller improves system dynamics for the given range of inputsignals. The method was tested on one example. Obtaind resultsclearly indicate its efficiency.

**Keywords**: nonlinear system, design, quasi-linearization, optimization, simultaneou stabilization

**Type of paper**:*Paper in journal*

**Title:**Square Root Algorithm for Recursive Least Squares Estimators and Comparison of Adaptive System with Generalized Predictive Control

**Authors:**- Kuljača, Ljubomir (24574)
- Božić, Milorad

**Journal**: Automatika

**Number**: 5

**ISSN**: 0005-1144

**Volume**: 32

**Year**: 1991

**Pages**: from 155 to 165

**Number of references**: 17

**Language**: hrvatski

**Summary**: The parameter estimation algorithm, presented in this paper, isbased on LS method. It uses variable forgetting factor whichassures the trace of covariance matrix to be constant. Covariancematrix square root recursion together with correspondingsupervision-loop is proposed for implementation. The comparisonof the performances among various estimators is given. Theestimators based on LS, ELS and PLR methods and programmedaccording to the above mentioned algorithm.

**Keywords**: adaptive control, generalized predictive control, parameter estimation, performances comparison, square root algorithm, supervision functions

**Type of paper**:*Paper in journal*

**Title:**Adaptive Stability Region Placement Methods for Real-Time Simulation

**Authors:**- Vukić, Zoran (74412)

**Journal**: Automatika

**Number**: 1

**ISSN**: 0005-1144

**Volume**: 33

**Year**: 1992

**Pages**: from 3 to 12

**Number of references**: 14

**Language**: engleski

**Summary**: An adaptive procedure, used for the simulation of stiff systems,which maintans simulation stability for a time-varying linearsystem, is presented. A recursive least squares algorithm is usedto estimate the system eigenvalue, and the Stability RegionPlacement (SRP) design method is used to determine thecoefficients an explicit linear multistep integration operator.Results are given for different types of inputs and variationpatterns for the eigenvalue. It was shown that the proposedmethod is able to cope with slowly varying parameters of thesystem, which makes this method a possible choice for theimplementation in those control structures which use the model ofa proces.

**Keywords**: adaptive integration method, real-time simulation, time-varying system, stiff system, stability region placement method, stiff system simulation

**Type of paper**:*Paper in proceedings*

**Title:**Floating Vessel Motion Computer Simulation - Programming Package BIBROD

**Authors:**- Babić, Ivan
- Kuljača, Ljubomir (24574)
- Koroman, Vladimir (151272)

**Editors**- Vidmar, Branko

**Proceedings title**: Zbornik radova 35. Međunarodnog simpozija ELMAR-a

**Language**: hrvatski

**Place**: Zadar

**Year**: 1993

**ISBN/ISSN**: 1330-092X

**Pages**: from 372 to 376

**Meeting**: 35. Međunarodni simpozij ELMAR

**Held**: from 06/28/93 to 06/30/93

**Summary**: In the paper the software package BIBROD is presented. Thepackage is realized in close collaboration Brodarski Institutewith the Faculty of Electrical Engineering (Department:Regulation and Signal Technics) in Zagreb. The package isprimarly intended for analysis of hydrodynamic characteristics ofthe floating vessel. The package is also intended for analysis ofthe floating vessel control system design (course keeping,trajectory, coordinate control and dynamic positioning).

**Type of paper**:*Paper in proceedings*

**Title:**Technology Development Influence to the Concept of Ship's Power Plant Central

**Authors:**- Vučetić, Dubravko (152326)
- Vlahinić, Ivan (67010)

**Editors**- Bartolić, Juraj
- Boršić, Mladen

**Proceedings title**: Zbornik radova 37. međunarodni godišnji skup KOREMA, KOREMA 37

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1992

**Pages**: from 161 to 165

**Meeting**: 37. međunarodni godišnji skup KOREMA

**Held**: from 04/26/92 to 04/29/92

**Summary**: On the basis of the analysis of ergonomical, technological andeconomical approach to the development of ship's diesel-electricpower plant control systems, basic hardware configuration modelis discussed. Specific conditions of its exploitation,application of new technologies, tendency for changing the numberand the structure of the crew, classification rules and feedbackinformation taken from operators are fully evaluated. Theresulting model is a basis for future work on the data generatingand data transfer models, technological algorithms and software.

**Type of paper**:*Paper in proceedings*

**Title:**Process Control Automation for a Ship of the Future

**Authors:**- Kuljača, Ljubomir (24574)
- Vukić, Zoran (74412)

**Editors**- Srb, Neven

**Proceedings title**: 3. Međunarodni simpozij o novim tehnologijama, 3. SONT

**Language**: engleski

**Place**: Opatija

**Year**: 1991

**ISBN/ISSN**: 86-81997-02-5

**Pages**: from 9 to 9

**Meeting**: 3. Međunarodni skup o novim tehnologijama, 3. SONT

**Held**: from 10/15/91 to 10/17/91

**Type of paper**:*Paper in proceedings*

**Title:**Autopilot Design by the Simultaneous Stabilization and Parameter Optimization

**Authors:**- Vukić, Zoran (74412)
- Novinc, Vedrana

**Editors**- Tiano, A

**Proceedings title**: CAMS '92, Control Applications in Marine Systems

**Language**: engleski

**Place**: Genova, Italija

**Year**: 1992

**Pages**: from 309 to 319

**Meeting**: 4th Electrotechnical and Computer Science Conference ERK '95

**Held**: from 04/08/92 to 04/10/92

**Summary**: The paper presents a synthesis of a nonlinear ship steeringcontrol system through application of the simultaneousstabilization and parametric optimization methods. The shipsteering control system is closed through the gyrocompass andautopilot. The loop consists of an autopilot, the steering gearsubsystem, and a ship. For linearization of the nonlinearsteering gear subsystem the procedure of quasi-linearization isused. The steering gear linearized model structure and initialparameters are determined by means of frequency characteristicsof the steering gear subsystem, while the time response isutilized for the fine adjustment of parameters. The dynamics ofthe ship. treated as a linear part of the system, variesdepending on conditions (trim, depth etc.) to which the ship issubjected, and can be described by a set of transfer functions.The linearized steering gear model together with a set of theship linear models produce the nonlinear ship steering controlsystem model with variable parameters. The obtained modelconsists of a set of transfer functions describing the completesystem dynamics in open loop. After obtaining such a model of thesystem, an autopilot design is taking place by applying thesimultaneous stabilization procedure. The obtained regulatorstabilizes the system under given operating conditions,respectively, it stabilizes the set of transfer functions. Theprocedure of parametric optimization of the nonlinear system withvariable parameters is used to improve the system dynamics,whereas through the simultaneous stabilization procedure only thesystem stability conditions are checked. The procedure isverified, and the obtained results confirm the advantage of theautopilot obtained in such a manner.

**Keywords**: autopilot, simultaneous stabilization, parameter optimization, ship control, steering gear

**Type of paper**:*Paper in proceedings*

**Title:**Process Managament and Supervision of Shipboard Energetic Processes

**Authors:**- Žugić, Neven (151083)

**Editors**- Tiano, A

**Proceedings title**: CAMS '92, Control Applications in Marine Systems

**Language**: engleski

**Place**: Genova, Italija

**Year**: 1992

**Pages**: from 57 to 70

**Meeting**: 4th Electrotechnical and Computer Science Conference ERK '95

**Held**: from 04/08/92 to 04/10/92

**Summary**: By means of the technology applied until lately and with theshipboard energetic processes control systems configurationspossible in this connection it was nearly impossible to organizethe process management and graphic presentation of processingstates. The process management was present in fact, but onlythrough operator who, thanks to the aggregate knowledges aboutsingle functional block (energetic subprocess) and mutualorganization of subprocess, was enabled in a major or minorextent to perform the management of the shipboard energeticprocesses. Also, the interactive interfaces in classical formbecame the bottleneck of communication with process. It is notpossible to menage the process without perfect comunication orpresentation respectively. Through appearance of new technologiesalso quite new process organization forms imposed themselves asfeasible, receiving on them the majority of process algorithmsand enhancing in this manner the total efficiency and safety ofthe process as well of the ship in its entirety.

**Type of paper**:*Paper in proceedings*

**Title:**Electrooptical Tracking Systems

**Authors:**- Vukić, Zoran (74412)
- Mandžuka, Sadko
- Vičić, Darko (151294)
- Pajk, Josip

**Editors**- Vidmar, Branko

**Proceedings title**: Zbornik radova 35. Međunarodnog simpozija ELMAR-a

**Language**: hrvatski

**Place**: Zadar

**Year**: 1993

**ISBN/ISSN**: 1330-092X

**Pages**: from 230 to 234

**Meeting**: 35. Međunarodni simpozij ELMAR

**Held**: from 06/28/93 to 06/30/93

**Summary**: In this paper the basic structure of the electrooptical trackingsystems, in particular for solving the kinematic problem of themoving object, is shown.

**Type of paper**:*Paper in proceedings*

**Title:**Review of the Development of Ship's Steering Systems

**Authors:**- Vukić, Zoran (74412)

**Proceedings title**: Zbornik radova X. Simpozija Teorija i praksa brodogradnje

**Language**: hrvatski

**Place**: Rijeka

**Year**: 1992

**Pages**: from 0 to 0

**Meeting**: X. Simpozij Teorija i praksa brodogradnje

**Type of paper**:*Paper in proceedings*

**Title:**BIMAP - Modular Ship Autopilot

**Authors:**- Vukić, Zoran (74412)
- Koroman, Vladimir (151272)
- Mandžuka, Sadko

**Editors**- Vidmar, Branko

**Proceedings title**: Zbornik radova 34. Simpozija ELMAR-a

**Language**: hrvatski

**Place**: Zadar

**Year**: 1992

**Pages**: from 26 to 29

**Meeting**: 34. Simpozij ELMAR

**Held**: from 09/28/92 to 09/30/92

**Summary**: This paper describes new concept of enhanced possibilities onexisting auto pilots for ships (track control, rudder rollstabilization, coordinate control of floating vessels etc.). Theconcept is discussed in some depth, paying particular attentionto its operational flexibility and ability. The new solution isnamed BIMAP (Brodarski institut - Modular Auto Pilot).

**Type of paper**:*Paper in proceedings*

**Title:**Ship's Steering System Analysis with Changed Dynamics

**Authors:**- Vukić, Zoran (74412)
- Kuljača, Ljubomir (24574)
- Mandžuka, Sadko

**Editors**- Vidmar, Branko

**Proceedings title**: Zbornik radova 34. Simpozija ELMAR-a

**Language**: hrvatski

**Place**: Zadar

**Year**: 1992

**Pages**: from 30 to 34

**Meeting**: 34. Simpozij ELMAR

**Held**: from 09/28/92 to 09/30/92

**Summary**: Analysis of the steering control system for the ship withvariable dynamics is presented. Analysis is obtained viasimulation. Autopilot is designed by the method of simultaneousstabilization and parameter optimization. Analysis is performedfor the ship whose dynamics is changed with depth under keel.Simulation results indicate that simultaneously stabilizingautopilot is capable to accomplish its role when the dynamics ofthe ship is changing.

**Type of paper**:*Paper in proceedings*

**Title:**Review of Fuzzy Control With Application on Ship Processes

**Authors:**- Milinović, Dinko
- Vukić, Zoran (74412)
- Kuljača, Ljubomir (24574)

**Editors**- Vidmar, Branko

**Proceedings title**: Zbornik radova 35. Međunarodnog simpozija ELMAR-a

**Language**: hrvatski

**Place**: Zadar

**Year**: 1993

**ISBN/ISSN**: 1330-092X

**Pages**: from 345 to 350

**Meeting**: 35. Međunarodni simpozij ELMAR

**Held**: from 06/28/93 to 06/30/93

**Summary**: In this paper, the fundamentals of fuzzy control and itsapplication for control of different processes are given. Thereasons for application of fuzzy control are explained throughthe comparison with conventional process control. Some processesfor which fuzzy control is considered are listed. The fuzzyadaptive control with application to ship processes is alsogiven.

**Type of paper**:*Paper in proceedings*

**Title:**New Trends in Control Design for Autonomous Underwater Vehicles

**Authors:**- Vukić, Zoran (74412)
- Babić, Ivan
- Milinović, Dinko
- Koroman, Vladimir (151272)

**Editors**- Bogdanov, Peter

**Proceedings title**: Proceedings of the VI-th Congress of the IMAM

**Language**: engleski

**Place**: Varna, Bugarska

**Year**: 1993

**Pages**: from 333 to 340

**Meeting**: VI Congress IMAM '93

**Held**: from 11/15/93 to 11/20/93

**Summary**: The hovering, obstacle avoidance, trajectory tracking and controlproblems of the Autonomous Underwater Vehicles (AUV) and theRemotely Operated Vehicles (ROV) are presented. The new technicalsolutions based on the self-organizing neural-net controllersystem, signal and computer processing are considered.

**Keywords**: control design, underwater vehicle

**Type of paper**:*Paper in proceedings*

**Title:**Use of Optimal Constrained Covariance Control (OC3) in Dynamic Positioning of Floating Vessels

**Authors:**- Mandžuka, Sadko
- Vukić, Zoran (74412)

**Editors**- Fossen, Thor I.

**Proceedings title**: Proceedings of the 3rd IFAC Workshop on CAMS'95

**Language**: engleski

**Place**: Trondheim, Norveška

**Year**: 1995

**Pages**: from 9 to 15

**Meeting**: CAMS'95, Control Applications in Marine Systems

**Held**: from 05/10/95 to 05/12/95

**Summary**: A new technique for control system design based on the Optimal Constrained Covariance Control (OC3) is presented. A design procedure of control system for dynamic ship positioning is proposed. In the papers published so far the controller gain matrices were determined using the classical Linear Quadratic Gaussian (LQG) optimal control technique, the pole-placement technique and characteristic locus design method. The main disadvantage of these techniques is their poor correspondence with the real performance requirements of control system. Using the proposed technique this disadvantage is avoided. The results of computer simulation using OC3 control are presented.

**Keywords**: LQG Control, Constrained Covariance Control, Dynamic Positioning

**Type of paper**:*Paper in proceedings*

**Title:**Algorithm for Parameter Estimation of the Multivariable Linear System

**Authors:**- Vukić, Zoran (74412)
- Ožbolt, Henrijeta

**Editors**- Bartolić, Juraj
- Glavinić, Vlado
- Štih, Željko
- Boršić, Mladen
- Mahović, Sanjin
- Vukić, Zoran (74412)
- Mijat, Neven
- Novaković, Branko
- Essert, Mario
- Jakopović, Željko
- Kovačić, Zdenko

**Proceedings title**: Proceedings 40th Anniversary Conference KoREMA

**Language**: engleski

**Place**: Zagreb

**Year**: 1995

**ISBN/ISSN**: 953-6037-08-4

**Pages**: from 419 to 422

**Meeting**: 40. jubilarni godišnji skup KoREMA

**Held**: from 04/19/95 to 04/21/95

**Summary**: Algorithm for the identification of multivariable linear time-invariant system is presented. Algorithm is inspired by the geometrical picture of a matrix, and leeds to state-space model. Two block Hankel matrices are built from limited number of i/o data, and consequently a state sequence is realized as the intersection of row vector subspaces of these Hankel matrices. System state matrices are obtained from the overdetermined set of linear equations using least squares method. Use of reliable SVD (Singular Value Decomposition) provides numerical stability even in the case of very noisy i/o data and reduces matrix computational load.

**Keywords**: Singular Value Decomposition, parameter estimation, Hankel matrix, identification

**Type of paper**:*Paper in proceedings*

**Title:**Predictive PI+D Autopilot

**Authors:**- Vukić, Zoran (74412)
- Kuljača, Ljubomir (24574)
- Milinović, Dinko

**Editors**- Bartolić, Juraj
- Boršić, Mladen
- Essert, Mario
- Glavinić, Vlado
- Jakopović, Željko
- Kovačić, Zdenko
- Mahović, Sanjin
- Mijat, Neven
- Novaković, Branko
- Szabo, Aleksandar
- Vukić, Zoran (74412)

**Proceedings title**: Proceedings 40th Anniversary KoREMA

**Language**: engleski

**Place**: Zagreb

**Year**: 1995

**ISBN/ISSN**: 953-6037-08-4

**Pages**: from 372 to 376

**Meeting**: 40. jubilarni godišnji skup KoREMA

**Held**: from 04/19/95 to 04/21/95

**Summary**: The new predictive PI+D autopilot is proposed for a ship course-keeping control system. The control system consists of the ship, steering gear system and autopilot. The steering gear consist of the rotary power unit where the servo is aproximated with a relay with daedband and hysteresis, and a servo actuator with main pump modeled with ratelimited servoactuator. Because it is known that the linear treatment is effective for prediction of lateral motion in waves during course keeping, the ship is treated as the linear one, with three degres of freedom. Simulation study confirmed that the predictive PI+D autopilot should be recommended especially when tuned to minimize rudder activity and heading error.

**Keywords**: predictive autopilot, ship steering

**Type of paper**:*Paper in proceedings*

**Title:**Comparative Analysis of Conventional PID and Predictive PI+D Autopilot

**Authors:**- Vukić, Zoran (74412)
- Milinović, Dinko
- Kuljača, Ljubomir (24574)
- Mandžuka, Sadko

**Editors**- Andročec, Vladimir
- Lovrić, Josip

**Proceedings title**: Proceedings of the VII Congress of the IMAM

**Language**: engleski

**Place**: Dubrovnik

**Year**: 1995

**ISBN/ISSN**: 953-6017-02-4

**Pages**: from 587 to 596

**Meeting**: VII Congress of the International Maritime Association of the Mediteranean, IMAM '95

**Held**: from 04/23/95 to 04/27/95

**Summary**: In the paper the comparison of the conventional PID autopilot and newly proposed predictive PI+D autopilot is given. Both autopilots were investigated by simulation. Ship's course-keeping control system consist of the ship, steering gear and autopilot. The steering gear consist of the rotary power unit where the servo is approximated with a relay with deadband and hysteresis, and a servo actuator with main pump modeled with ratelimited servoactuator. Because it is known that the linear treatment is effective for prediction of lateral motions in waves during course keeping, the ship is treated as the linear one, with three degrees of freedom. The coefficients used are based on captive model test results for a 250000 DWT at an operating speed of 15 knots in fully loaded and in ballast condition, and of the high speed containership at 32 knots. Simulation study confirmed that the predictive PI+D autopilot should be reccomended. Autopilots are compared for the full and ballast tanker, as well as for the containership. Predictive PI+D autopilot is tuned to minimize rudder activity and heading error. Reccomandations for tuning predictive PI+D autopilot for various ships are given in the paper.

**Keywords**: conventional autopilot, predictive autopilot, ship steering

**Type of paper**:*Paper in proceedings*

**Title:**Simultaneous Stabilizable Autopilot

**Authors:**- Vukić, Zoran (74412)
- Kuljača, Ljubomir (24574)

**Editors**- Vidmar, Branko

**Proceedings title**: Zbornik radova 36. međunarodni simpozij ELMAR-a

**Language**: engleski

**Place**: Zadar

**Year**: 1994

**ISBN/ISSN**: 953-96030-0-5

**Pages**: from 33 to 36

**Meeting**: 36. Međunarodni simpozij ELMAR-a

**Held**: from 09/12/94 to 09/14/94

**Summary**: The design of the simultaneous stabilizable autopilot is presented. This autopilot has the capability to simultaneously stabilize more than one ship's mathematical model, which is valid for particular operating condition. Moreover, designed autopilot not only stabilizes the system under given operating conditions, but also ensures desired dynamic response. The procedure of parametric optimization of the nonlinear system with variable parameters is used to improve the system dynamics, whereas through the simultaneous stabilization procedure the system stability is ensured. The procedure is veryfied, and the obtained results confirm the advantage of the autopilot obtained.

**Keywords**: Autopilot, simultaneous stabilization, parameter optimization, ship control, steering gear, robust control

**Type of paper**:*Paper in proceedings*

**Title:**Review of Mathematical Models for the Ship

**Authors:**- Kuljača, Ljubomir (24574)
- Vukić, Zoran (74412)
- Milinović, Dinko

**Editors**- Vidmar, Branko

**Proceedings title**: Zbornik radova 36. međunarodni simpozij ELMAR-a

**Language**: hrvatski

**Place**: Zadar

**Year**: 1994

**ISBN/ISSN**: 953-96030-0-5

**Pages**: from 269 to 272

**Meeting**: 36. Međunarodni simpozij ELMAR-a

**Held**: from 09/12/94 to 09/14/94

**Summary**: Various mathematical models for the ship object are analysed. Analysis of the linear and nonlinear mathematical models for different sailing regimes is given. Results of the analysis for different mathematical models of the particular ship are confirmed by simulation tests. Comparison of the obtained results for different models with review of their applicability is also performed.

**Type of paper**:*Paper in proceedings*

**Title:**Educational Program Package for Identification

**Authors:**- Mastrović, Joško
- Vukić, Zoran (74412)

**Editors**- Bartolić, Juraj
- Boršić, Mladen
- Budin, Rajka
- Essert, Mario
- Ribarić, Slobodan
- Szabo, Aleksandar
- Švedek, Tomislav
- Vukić, Zoran (74412)
- Kalpić, Damir

**Proceedings title**: Zbornik radova 39. godišnji skup KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1994

**ISBN/ISSN**: 953-6037-02-5

**Pages**: from 427 to 430

**Meeting**: 39. godišnji skup KoREMA

**Held**: from 04/25/94 to 04/25/94

**Type of paper**:*Paper in proceedings*

**Title:**Program Module PCL718M for Process Monitoring

**Authors:**- Ptičar, Davorin
- Vukić, Zoran (74412)

**Editors**- Bartolić, Juraj
- Boršić, Mladen
- Budin, Rajka
- Ribarić, Slobodan
- Szabo, Aleksandar
- Švedek, Tomislav
- Vukić, Zoran (74412)
- Essert, Mario
- Kalpić, Damir

**Proceedings title**: Zbornik radova 39. godišnji skup KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1994

**ISBN/ISSN**: 953-6037-02-5

**Pages**: from 444 to 447

**Meeting**: 39. godišnji skup KoREMA

**Held**: from 04/25/94 to 04/27/94

**Type of paper**:*Paper in proceedings*

**Title:**Pilot Plant Control

**Authors:**- Šprem, Davor
- Vukić, Zoran (74412)

**Editors**- Bartolić, Juraj
- Szabo, Aleksandar
- Boršić, Mladen
- Vukić, Zoran (74412)
- Essert, Mario
- Ribarić, Slobodan
- Švedek, Tomislav
- Budin, Rajka
- Kalpić, Damir

**Proceedings title**: Zbornik radova 39. godišnji skup KoREMA

**Language**: hrvatski

**Place**: Zagreb

**Year**: 1994

**ISBN/ISSN**: 953-6037-02-5

**Pages**: from 448 to 450

**Meeting**: 39. godišnji skup KoREMA

**Held**: from 04/25/94 to 04/27/94

**Type of paper**:*Paper in proceedings*

**Title:**Analysis of Limit Cycle Behaviour of Ships Under Automatic Course Control

**Authors:**- Kuljača, Ljubomir (24574)
- Vukić, Zoran (74412)
- Milinović, Dinko

**Editors**- Vidmar, Branko
- Medved Rogin, Branka
- Radanović, Božidar

**Proceedings title**: Proceedings on 37th International Symposium ELMAR '95

**Language**: engleski

**Place**: Pula

**Year**: 1995

**ISBN/ISSN**: 1330-092X

**Pages**: from 209 to 212

**Meeting**: 37th International Symposium Electronics in Marine ELMAR '95

**Held**: from 09/18/95 to 09/20/95

**Summary**: The influence of the nonlinearity of the ship and the quality of course-keeping control is analysed. The analysis of the limit-cycle behaviour caused by nonlinearities of the ship is given. The influence of the autopilot parameters on the frequency and amplitude of the oscilations of the ship around reference heading is shown. The results of the analysis are confirmed by simulation tests.

**Type of paper**:*Paper in proceedings*

**Title:**Improved Fuzzy Gain Scheduling of PID Controller

**Authors:**- Vukić, Zoran (74412)
- Bakarić, Vedran

**Editors**- Solina, Franc
- Zajc, Baldomir

**Proceedings title**: Proceedings of the Fourth ERK '95

**Language**: hrvatski

**Place**: Portorož, Slovenija

**Year**: 1995

**ISBN/ISSN**: 961-6062-06-9

**Pages**: from 211 to 214

**Meeting**: 4th Electrotechnical and Computer Science Conference ERK '95

**Held**: from 09/25/95 to 09/27/95

**Summary**: One simple "two-term" mechanism of a fuzzy tuner for a modified PID regulator is presented. Rule base of a fuzzy tuner is developed from an expert knowledge about the role of particular components of a PID regulator. Simulation results prove that the proposed fuzzy tuner can significantly improve dynamic performance of some processes with considerable time delay.

**Type of paper**:*Mentorship*

**Title:**Analysis of the Stabilization Systems for Ship's Course and Trackkeeping

**Faculty**: Elektrotehnički fakultet Zagreb

**Mentor**: KULJAČA LJUBOMIR

**Date of defense**: 09/20/91

**Number of pages**: 87

**Author**: Kalember Dušan

**Degree level**: M.A.

**Type of paper**:*Mentorship*

**Title:**Coordinate Control of Floating Vessels

**Faculty**: Elektrotehnički fakultet Zagreb

**Mentor**: KULJAČA LJUBOMIR

**Date of defense**: 06/24/92

**Number of pages**: 124

**Author**: Mandžuka Sadko

**Degree level**: M.A.

**Type of paper**:*Mentorship*

**Title:**Design of Robust Adaptive Controllers

**Faculty**: Elektrotehnički fakultet Zagreb

**Mentor**: KULJAČA LJUBOMIR

**Date of defense**: 02/27/91

**Number of pages**: 154

**Author**: Božić Milorad

**Degree level**: Ph.D.

**Type of paper**:*Mentorship*

**Title:**Design of Nonlinear Automatic System by the Simultaneous Stabilization Method

**Faculty**: Elektrotehnički fakultet Zagreb

**Mentor**: VUKIĆ ZORAN

**Date of defense**: 04/27/92

**Number of pages**: 102

**Author**: Novinc Vedrana

**Degree level**: Ph.D.

**Type of paper**:*Computer program*

**Title:**Programming Package BIBROD

**Authors:**- Vukić, Zoran (74412)
- Kuljača, Ljubomir (24574)
- Zimmermann-Pavčević, Kalma (54851)
- Babić, Ivan
- Milinović, Dinko

**Odering party**: Brodarski institut Zagreb

**Institution depot**: Brodarski institut Zagreb

**HW platform**: PC 386, PC 486

**Operating system**: DOS

**Programming language**: Microsoft FORTRAN 5.0

**Year**: 1993

**Type of paper**:*Survey/Study*

**Title:**Adaptive Control System Algorithms

**Authors:**- Vukić, Zoran (74412)
- Kuljača, Ljubomir (24574)
- Zimmermann-Pavčević, Kalma (54851)
- Babić, Ivan

**Ordering party**: Brodarski institut Zagreb

**Institution depot**: Brodarski institut Zagreb

**Year**: 1992

**Number of pages**: 58

**Language**: hrvatski

**Type of paper**:*Survey/Study*

**Title:**System for Off-Line Identification of Ship's Dinamical Characteristics

**Authors:**- Vukić, Zoran (74412)
- Kuljača, Ljubomir (24574)
- Zimmermann-Pavčević, Kalma (54851)
- Babić, Ivan
- Milinović, Dinko

**Ordering party**: Brodarski institut Zagreb

**Institution depot**: Brodarski institut Zagreb

**Year**: 1992

**Number of pages**: 31

**Language**: hrvatski

**Type of paper**:*Invited lecture*

**Title:**Problems of Floating Vessels Control

**Institution**: Društvo avtomatikov Slovenije in Inštitut za avtomatiko TF-ERI

**Year**: 1993

**Type of paper**:*Other*

**Title:**

**Authors:**- Kuljača, Ljubomir (24574)

**Type of work**: Okrugli stol ELMAR '95, Pula

**Language**: hrvatski

**Type of paper**:*Other*

**Title:**Basics of the Fuzzy Control Systems Design

**Authors:**- Vukić, Zoran (74412)
- Milinović, Dinko

**Type of work**: Prijevod i priprema knjige za tisak

**Language**: hrvatski

**Other**: Knjiga "Osnove projektiranja neizrazitih (fuzzy) regulacijskih sustava" u izdanju KoREMA, Zagreb, 1994, prijevod je knjige "Osnove snovanja mehkih (fuzzy) regulacij" Dalija Đonlagića i koautora, u izdanju Tehniška fakulteta - ERI, Inštitut za avtomatiko, Maribor, 1994.

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