Figure 10. Variations of the fin regarding to the two controllers, a) Constrained LQR, b) PID controller

From

Control of Roll Motion of Fishing Vessel by Fin-Stabilizer Using PID Controller

Hassan Ghassemi, Hamid Malekizade, Arash Ashrafi

International Journal of Physics. 2016, 4(6), 181-186 doi:10.12691/ijp-4-6-5