In the fifth chapter, the variable structure control methods of nonlinear systems are used in the ship's course-keeping system with actuator dynamics.

So, and of course, you know, keeping entropy as a fixed variable for a system like that is extremely cumbersome.

For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm.