Designing ship course movement using pseudoinverse matrices for measuring state vector of controlled object

To configure the control systems of the ship movement along the trajectory, it is necessary to be concerned with the parameters of its controllability. There has been proposed building a matrix model based on measurements of the state vector of a controlled object. The construction of the model is considered on the example of the problem of ship course control. An algorithm for determining the matrix coefficients of the selected model is proposed. The operation of the considered algorithm has been checked for square matrices by finding their inverse matrices, as well as for rectangular matrices for which the pseudo inverse matrix was found. The illustration of the proposed approach is carried out using the example of a simple 1-order linear Nomoto model. The considered approach is quite universal and can be applied to higher order models, including nonlinear ones.