Abstract: A controller of a gyroscope structure associated with a floating hull and equipped with an electrical converter suitable for converting the rotational energy of the floating hull into electrical energy, the controller, receiving as input a perturbed output state including operating variables of the gyroscope structure to determine a driving signal of the electrical converter, which includes a first signal portion determined using a predictive control model of the gyroscope structure computed on the basis of the perturbed output state and a second signal portion determined using a tube convergence computed on parametric deviations of the operating variables of the perturbed output state, the parametric deviations computed with respect to the operating variables of a unperturbed output nominal state of the gyroscope structure.