Szukana fraza: [Abstract = "In the paper an adaptive linear control system structure with modal controllers for a MIMO nonlinear dynamic process is presented and various methods for synthesis of those controllers are analyzed. The problems under study are exemplified by the synthesis of a position and yaw angle control system for a drillship described by a 3DOF nonlinear mathematical model of low\-frequency motions made by the drillship over the drilling point."]

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