Szukana fraza: [Abstract = "The system synthesis is carried out by means of four different methods for system pole placement after having linearized the model of low\-frequency motions made by the vessel at its nominal \"operating points\" in steady states that are dependent on the specified yaw angle and the sea current velocity. The final part of the paper includes simulation results of system operation with an adaptive controller of \(stepwise\) varying parameters along with conclusions and final remarks."]

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