Szukana fraza: [Abstract = "The parameters of the obtained nonlinear control structures are tuned to optimise the operation of the control system. The optimisation is performed using genetic algorithms. The quality of operation of the designed control algorithms is checked in simulation tests performed on the mathematical model of a tanker. In order to obtain reference results to be used for comparison with those recorded for nonlinear controllers designed using the backstepping method, a control system with the PD controller is examined as well."]

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