《Table 3WVA and MSI percentages obtained with model changed parameters》

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《使用智能PD控制器的高速渡轮运动控制（英文）》

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Both controllers were then tested at three different operating speeds（20，30，and 40 kn）.This time the PD controller was tested twice.First，with maintaining the gains of the PD controller constant and the second with retuning the gains at each nominal plant related to each speed while the gains of the i-PD controller were maintained fixed.Table 4 resumes the obtained MSI for the three controllers at three different working speeds.