LIU Sheng Professor at the College of Automation, Harbin Engineering University. His research interest covers intelligent control, robust control, and ship motion control. E-mail: liu.sch@163.com ZHOU Li-Ming Ph. D. candidate at the College of Automation, Harbin Engineering University. Her research interest covers constrained control, robust control, and ship steering control. Corresponding author of this paper. E-mail: zhouliminghit @sohu.com