TMR4240 - Marine Control Systems I


Examination arrangement

Examination arrangement: Portfolio assessment
Grade: Letters

Evaluation Weighting Duration Grade deviation Examination aids
Home Exam 67/100 4 hours
Arbeider 33/100

Course content

The course focuses on mathematical modelling and design of control systems for various marine operations, motion control, positioning, manoeuvring, machinery systems and propulsion systems for ships, underwater vehicles and floating marine structures. This includes dynamic positioning, thruster assisted position mooring, motion damping, crane control, machinery systems, propellers, thrusters, rudders, electrical power generation and distribution for maritime electrical installations. Application areas are shipping, offshore oil and gas, fisheries and aquaculture, and ocean science. Process knowledge including mathematical modelling is emphasized. Introduction to conventional linear monovariable (SISO) and multivariable (MIMO) control and observer designs (PID, LQG, Kalman filtering, hybrid control, etc.) for marine applications will be given. Methods for design and operation of autonomous ships and underwater vehicles will be introduced. This includes situational awareness and risk-based control. It will also be given an overview of implementation aspects including signal processing, filtering and signal detection. Methods for analysis and design of time-discrete control systems, including sampling of time-continuous systems, input-output models, z-transform, poles and zeroes, stability analysis. Aspects related to safety and performance of marine control systems, and authority and class requirements will be treated.

Learning outcome

After the course is completed the students shall be able to develop mathematical models and design control systems for propulsion and motion controllers for ships, underwater vehicles and other floating structures based on fundamental physical laws and observed relations.

The students shall be able to:
Understand the concept of mathematical modeling for design, analysis and verification of marine control systems for ships, rigs, underwater vehicles and slender structures.

Be able to develop both advanced numerical simulation models for testing and verification as well as simplified models used in model-based marine control systems.

Understand the fundamental structure and architecture in marine control systems from low-level control of motors and propellers to high-level control and optimization of references subject to the particular marine operation, desired behavior and constraints.

Understand the fundamental principles of computer-controlled systems, signal processing, filtering and fault detection.

Be able to design and analyze controllers for dynamic positioning, thruster assisted position mooring, motion control, machinery systems and power management systems.

Be able to apply classical linear monovariable and multivariable control and observer theory (PID, LQG, Kalman filering, hybrid control, ..)

Understand the main principles for design and operation of autonomous marine systems.

Understand fundamental safety requirements from class societies and authorities for testing, verification and certification of marine control systems.

Learning methods and activities

If needed, the lecture will be given in English. All written material is in English.

Compulsory assignments

  • Project works

Further on evaluation

Portfolio assessment is the basis for the grade in the course. The portfolio includes a final written exam (67%) and exercises (33%). The results for the parts are given in %-scores, while the entire portfolio is assigned a letter grade.
Examination papers will be given in English only. Students are free to choose Norwegian or English for written assessments.
Postponed/repeated exams may be oral.
For a re-take of an examination, all assessments during the course must be re-taken.

Specific conditions

Compulsory activities from previous semester may be approved by the department.

Required previous knowledge

Control Engineering (TTK4105) or similar is a prerequisite.

Course materials

Lecture Notes: Marine Cybernetics: Towards Autonomous Marine Operations and Systems, Version 2018-08-20

Credit reductions

Course code Reduction From To
SIN1549 7.5
More on the course

Version: 1
Credits:  7.5 SP
Study level: Second degree level


Term no.: 1
Teaching semester:  AUTUMN 2020

Language of instruction: English

Location: Trondheim

Subject area(s)
  • Technological subjects
Contact information
Course coordinator: Lecturer(s):

Department with academic responsibility
Department of Marine Technology


Examination arrangement: Portfolio assessment

Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
Autumn ORD Arbeider 33/100
Room Building Number of candidates
Autumn ORD Home Exam 67/100





Room Building Number of candidates
Summer UTS Arbeider 33/100
Room Building Number of candidates
Summer UTS Home Exam 67/100
Room Building Number of candidates
  • * The location (room) for a written examination is published 3 days before examination date. If more than one room is listed, you will find your room at Studentweb.

For more information regarding registration for examination and examination procedures, see "Innsida - Exams"

More on examinations at NTNU