{'fraction_non_alphanumeric': 0.017374517374517374, 'fraction_numerical': 0.0, 'mean_word_length': 4.831460674157303, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Nonlinear decoupling and immersion techniques applied to a single point mooring of a tanker

In this paper nonlinear decoupling and immersion techniques are applied to a single point mooring of a large scale ship. The tanker's movements, which are slow and of large amplitude, are described by a non-linear model. Since these can yield some disastrous effects in bad weather conditions, it is necessary to compensate them via well chosen controls. The use of nonlinear techniques permits a new approach to the problem.