Abstract: Method and apparatus for leveling or adjusting a power-boat's average angle of bank or list about its roll axis RA regardless of side wind or off-center loading to improve passenger comfort, increase fuel efficiency, and smooth hull passage through waves with reduced pounding. Improved operating characteristics are accomplished by adjusting steering force angle-of-attack of a small fin-rudder mounted under a forward portion of the boat's keel. The boat's heading is maintained by applying an opposite steering force by altering thrust direction of the driving and steering mechanism. Altering thrust direction occurs either by a pilot steering the helm or automatically by adjusting thrust direction independently of pilot steering. In an optional automatic mode, an electronic gravity inclinometer adjusts a fin-rudder servo. An electronic filter processes the inclinometer signal to control the boat's average attitude around its roll axis RA.

Abstract: A fishing boat has a direction sensor disposed at a midship of the boat for detecting as a vessel direction a direction of a bow of the boat, an outboard motor attached to the bow for controlling the vessel direction, and a control unit responsive to a detected vessel direction to control the outboard motor so that the bow is oriented at a preset vessel direction.

Abstract: An automatic controller for the helm of a watercraft uses sensors responsive to starboard and port contacts, with the predominating of the starboard and port contacts signalling the heeling of the watercraft. A transmitter attached to the person of the operator of the vessel is triggered should the operator fall into the water, to transmit a signal to the receiver attached to the electronic controller and thereby cause the watercraft to turn into the wind and prevent the distance between the vessel and the overboard person from increasing.

Abstract: A wireless remote control for the trim/tilt of a boat propulsion system including a plurality of transmitters, each capable of generating a signal on two channels and a receiver control responsive to each of the two signals and capable of synthesizing a third control signal from the combination of the two signals.

Abstract: A hand operated remote control station for marine trolling motors. The hand operated remote control station enhances or replaces existing remote foot control stations for trolling motors. The remote control station controls the trolling motor by a transmitted signal. The remote hand control station is a totally adjustable, non-corrosive, telescoping steering shaft on which are placed the electric controls to remotely operate a trolling motor, such as power switches and speed control devices.

Abstract: A boat stabilizing rudder system is disclosed. A rudder is formed of planar sheet material positionable in a vertical orientation. A vertically positioned support rod has a lower end, an upper end and an elongated central extent therebetween. The lower end is formed with plates adapted to be coupled to the rudder. The upper end is mounted on a driven gear adapted for rotation about a vertical axis. A bracket has an aperture adapted to receive the intermediate upper extent of the rod beneath the gear for rotation of the rod with the rudder therebeneath about a vertical axis. Also included is a drive box with a motor, a driven shaft, and a drive gear in driving contact with the driven gear. The bracket also has an aperture therethrough with a first pivot pin constituting a hinge. A pivot box has horizontally disposed second apertures therethrough with a second pivot pin positioned through the second apertures. A positioning rod has an exterior end with an outboard aperture receiving the first pivot pin.

Abstract: A trolling motor system and method for controlling the trolling motor, including a microcontroller, a plurality of transducers, a steering motor, and an outboard motor. The user is allowed to input commands via a keypad and the selected mode of operation is displayed via an LCD screen. The microcontroller operates the transducer to transmit sonar signals and the return signals are received and processed accordingly. In the preferred embodiment, there are five transducers arranged in a manner such that the port (left side of the boat) and starboard (right side of the boat) sides as well as the bottom of the boat are scanned continuously.The microcontroller processes the signals according to the user-selected mode, determines the steering degree and the motor speed, transmits these values to the Steering Motor And Position controller and the Power Drive And Motor controller.

Abstract: A warning system embodied in a remote control system which includes a warning circuit and which alerts the individual operating the system if the position of a controlled member of the system does not correspond with the position of the remote operator of the system within a preset period of time after the operator is moved.

Abstract: A method and apparatus for controlling a propulsion engine output in a vessel, based on the net axial force on a propeller shaft in the vessel. The apparatus includes a regulating loop with a computer which continuously controls the delivery of fuel to the vessel's engine, and optionally controls the attack angle of the vessel's propeller blades. Control of the fuel delivery is performed in accordance with predetermined control algorithms, and optionally, by operator-set parameter values and maneuvering operations. The apparatus further includes at least one force sensor mounted to a bearing which supports the vessel's propeller shaft. The force sensor, which is preferably mounted to a thrust bearing, detects a net axial force on the propeller shaft. The net axial force detected is then used as a parameter in the control algorithms and therefore as a factor in controlling the delivery of fuel.

Abstract: An autopilot for a vessel for use in combination with a depth finder having a transducer, including a means for setting and storing a desired characteristic to be followed by the vessel, means for measuring the characteristic to be followed by the vessel, and means for storing a signal generated by the measuring means indicative of the measured characteristic. Once received and stored, the measured characteristic is compared to the selected characteristic. Based upon the comparison between the two characteristics, at least one servo motor is actuated to alter the direction the vessel is traveling. A servo motor may be coupled to the helm or to an outboard motor mounted to the vessel. The speed of the vessel may also be controlled based upon a comparison between a measured value and a selected value.

Abstract: An actuator housing securely attached to a back wall of a rotary helm unit mounted below the dashboard of a watercraft provides a mechanism for automatic control of the watercraft's rudder. The actuator housing encloses a wheel shaft extension passing through an axial bore in a back wall of the rotary helm unit. A first end of the wheel shaft extension within the actuator housing has a drilled out core containing a spring. The spring exerts a force against a pusher shaft axially aligned with the wheel shaft extension. A transverse pin integral with the pusher shaft is located adjacent a gear affixed to the pusher shaft. When the spring is overcome by a contra force exerted on the pusher shaft, the transverse pin seats within two oppositely positioned grooves on the wheel shaft extension and causes the wheel shaft to turn in response to a system of gears activated by an electric motor mounted adjacent the actuator housing.

Abstract: A power steering apparatus for steering an outboard engine on a boat has a hydraulic cylinder unit for angularly moving a steering arm of the outboard engine, and a hydraulic pump actuatable by a motor for supplying a hydraulic pressure to the hydraulic cylinder unit. The motor is controlled by a motor driver which supplies a first amount of electric energy to the motor when the outboard engine is not steered, and supplies a second amount of electric energy, larger than the first amount of electric energy, to the motor when the outboard engine is steered.

Abstract: Provided is a marine engine control system of small size with a very high operation efficiency, good responsiveness and improved safety.

Abstract: A twin wing sailing yacht having a pair of wing appendages depending from a canoe or hull, the wing appendages including structures which support at their lower ends a fore and aft extending ballast tandemly suspended between them. The wings are rotatable about generally vertical axes under the control of collective and cyclic steering mechanisms.

Abstract: An electro-mechanical steering device for boats, comprising a push-pull cable (11) coupled between a steering gear (3) and a steering arm (12). The cable jacket is connected with play to the gear housing. The steering gear is coupled to a command value sender (8), the signal of which is compared in an electronics unit (10) with a signal from an actual value sensor (15) (rudder indicator) coupled to the steering arm. An electrical servo motor (14) is coupled to the steering arm and is controlled by the electronics unit in response to the difference between the command value and the actual value signals.

Abstract: A power steering system of an outboard motor to be mounted upon the body of a hull and including a steering bracket secured to the body of the hull, a swivel bracket rotatable about a body of the outboard motor and a pair of clamping brackets supporting the swivel bracket, comprises a manual steering unit for manually steering a steering element so as to operate the outboard motor, the manual steering unit including a link mechanism connected to the steering element and connected to the steering bracket, and a power unit operatively connected to the link mechanism of the manual steering unit. The power unit includes an electric motor for applying a steering assist force to the manual steering unit for reducing the steering load during steering operations through means of the link mechanism and also includes a mechanism for converting rotation of the electric motor into linear motion.

Abstract: An autopilot system for a vessel such as a boat has an autopilot unit connected via a drive to the rudder or other direction determining means of the vessel. When the autopilot unit is operating normally, direction information from e.g. a heading sensor is processed by the autopilot unit and the drive is controlled by the autopilot unit to determine the appropriate position of the rudder. The rudder is also linked to a steering wheel or other manual steering arrangement. When the steering wheel is moved during normal operation of the autopilot unit, this causes an interference with the control of the rudder by the drive and, if this interference has sufficient magnitude and duration, this triggers override of the autopilot unit, returning the vessel to manual control via the steering wheel. The override may alternatively be triggered by detection of rudder movement by a sensor.

Abstract: A trolling motor with heading lock coupled to the trolling motor and producing a thrust to pull a watercraft is disclosed. The system contains a bow-mounted motor and a steering motor connected to the bow-mounted motor. The outputs of a heading detector circuit and desired heading circuit are compared by a steering control circuit and used to generate input signals to the steering motor.

Abstract: A marine autopilot having adaptive gain control. The autopilot operates under a proportional plus derivative (PD) control law during course change operation (i.e. when the difference between a desired course and the actual vessel heading is greater than a predetermined value) and a proportional plus integral plus derivative (PID) control law during course keeping operation (i.e. when the difference between the desired course and the actual heading is less than the predetermined value). A gain value associated with the derivative term of the PID control law is adaptively controlled as a function of the roll frequency of the vessel. More particularly, since the damping provided by the derivative term is ineffectual in maintaining the desired course when the vessel is heading into the seas (i.e. when the roll frequency is greater than a predetermined value), the derivative term is nulled in such conditions.

Abstract: A device for controlling the heading of a water craft using a propulsion device which pulls the water craft is disclosed. The device includes a motor with a variable thrust orientation and a controller for controlling the direction of the thrust of the motor. A feedback circuit, including a compass in a substantially fixed relationship to the motor, provides a feedback signal to the controller indicative of the direction of the thrust of the motor. A heading designator provides a desired heading signal to the controller. The controller maintains the heading of the water craft in the desired heading in response to the desired heading signal and the feedback signal by varying the orientation which is of the thrust.

Abstract: A marine autopilot includes a roll compensation feature to improve autopilot performance. An additional parameter is included in a proportional-integral-derivative control algorithm. The additional term corresponds to the roll angle of the vessel. Since, roll precedes deviation of a vessel from a desired course, the rudder moves to compensate for the disturbance prior to deviation from the desired course. In this way, the vessel's course keeping performance is improved and the overall rudder activity is reduced since the vessel remains more closely aligned with the desired course.

Abstract: A system and method for automatically steering a boat in a body of water along a course to maintain a selected depth of water adjacent the boat. The actual depth of the water adjacent the boat is automatically detected. A desired depth is selected to be maintained adjacent the boat as the boat moves along. The actual depth and the selected depth are compared and the course heading of the boat is changed to a new course heading toward equalizing the actual and selected depths in response to detecting that the actual and selected depths are not equal. A depth reference is established defining whether the shallower water is to the left or right side of the boat, and the course heading is changed toward equalizing the actual and selected depths further in response to the depth reference.

Abstract: A small motor powered boat guidance system is disclosed and includes an arrangement for sensing the vertical distance between the boat and the bottom of a body of water in which the boat is floating and for providing a visual indication of the sensed vertical distance. A first series of visible pulses and a second series of visible pulses of the same frequency as the first series of pulses are generated with the pulses of the first and second series being interleaved and with the phase difference therebetween being indicative of the vertical distance. The visual indicator also generates, simultaneous with the visual indications, electromagnetic radiation in a region of the electromagnetic spectrum remote from the visible portion of the spectrum.

Abstract: A servo controlled trolling motor steering system provides improved speed and steering control. The system includes apparatus for mounting the motor on a boat for rotation about an axis to effect steering of the boat. A foot pedal includes a base and a foot pad pivotally mounted to the base, the foot pad being pivotal by a user to command a desired steering direction. A membrane potentiometer senses rotational position of the motor to develop an electrical signal representative of the rotational position, the signal comprising a steering feedback signal. A second membrane potentiometer senses pivotal position of the foot pad relative to the base to develop an electrical signal representative of the pivotal position, the signal comprising a steering command signal.

Abstract: A method of controlling the position of an on-water water curtain device for building a water curtain on the water in order to stop or disperse dangerous gas leaking from a ship or to block flame and radiant heat due to the leaking gas. The method comprises the steps of detecting positions of the ship and the water curtain device, detecting wind direction and tidal current, and adjusting the position of the water curtain device to an optimal position in accordance with detected values so as to maintain the diaster prevention water curtain substantially perpendicular to the leaking gas.

Abstract: A servo controlled trolling motor steering system provides improved speed and steering control. The system includes apparatus for mounting the motor on a boat for rotation about an axis to effect steering of the boat. A foot pedal includes a base and a foot pad pivotally mounted to the base, the foot pad being pivotal by a user to command a desired steering direction. A membrane potentiometer senses rotational position of the motor to develop an electrical signal representative of the rotational position, the signal comprising a steering feedback signal. A second membrane potentiometer senses pivotal position of the foot pad relative to the base to develop an electrical signal representative of the pivotal position, the signal comprising a steering command signal.

Abstract: A servo controlled trolling motor steering system provides improved speed and steering control. The system includes apparatus for mounting the motor on a boat for rotation about an axis to effect steering of the boat. A foot pedal includes a base and a foot pad pivotally mounted to the base, the foot pad being pivotal by a user to command a desired steering direction. A membrane potentiometer senses rotational position of the motor to develop an electrical signal representative of the rotational position, the signal comprising a steering feedback signal. A second membrane potentiometer senses pivotal position of the foot pad relative to the base to develop an electrical signal representative of the pivotal position, the signal comprising a steering command signal.

Abstract: A motor control system for a boat used for fishing in which the propulsion motor is automatically responsive to a control system for moving the boat at a desired distance from a habitat where fish are suspected to be found. The motor control system may be selectively responsive to one of several different types of control input such as sonar range device, radio frequency, optical or infrared transmitter, or cable control provisions.

Abstract: Automated constant depth steering and automated yaw correcting techniques for fishing boats or similar craft usable in concert or separately are disclosed. The constant depth steering arrangement controls a relative constant thrust electric trolling motor by varying the orientation of this trolling motor which propels the boat relative to the boat. The constant depth steering arrangement includes operator entry switches and potentiometers for receiving an operator selected water depth and an indication of the direction and sense in which water depth changes. The automatic yaw correcting arrangement includes a rudder-like structure for sensing the lateral component of craft motion relative to the water, and is responsive to the sensed lateral motion to imparting a lateral thrust to the craft in opposition to the sensed lateral component of craft motion.

Abstract: An electronic processing circuit 17 compares digital signals representing the position of a number of mutually connected control members to the contents of an electronic memory 18. On detecting a difference indicating the displacement of the position of one of the control members, the circuit 17 actuates those motors of motors 4, 5, 6 which are associated with the non-actuated control members in order to make them folllow the displacement. Excessive displacements indicating a fault are shown on an indicator 19.

Abstract: A wheel drive for a boat steering wheel comprises a front drivable ring for clamping to the spokes of the wheel, and a driving part including an autopilot-controlled motor supported on a rear ring that is itself supported on the front ring by a series of circumferential rollers engaging a grooved path around the front ring. A torque reaction engagement between the rear ring and an adjacent object prevents rotation of the driving part so that the motor can drive the front ring and the wheel in rotation by means of a drive belt. The engagement does not carry the weight of the driving part, which forms a self-contained unit with the drivable part.

Abstract: There is disclosed a steering control system for a boat propelled by either bow mounted or transom mounted trolling motors. The steering control system includes a steering cam assembly, actuating device for imparting relative rotational movement between the steering cam and the steering cam housing, and steering device for turning the trolling motors in a manner responsive to the actuation of the switching device. The steering cam assembly has a steering cam with actuating surfaces that form varying contours, a steering cam housing that houses the steering cam such that the steering cam rotates relative to the steering cam housing, electrical switching device coupled to the steering cam housing with actuating portions responsive to the actuating surface. Several different embodiments of the steering device are provided that either swing the trolling motors in an arc or rotate the trolling motors.

Abstract: A control mechanism for a boat having a seat assembly to support a pilot provides an outboard motor which is directionally controlled by extension and retraction of a control cable with the control mechanism having a pedal which is generally planar on its upper surface receptive of the pilot's foot. A bracket mounts the pedal at a location below the seat assembly so that the user occupying the seat can position one of his feet on the pedal. A pair of switch surfaces are disposed on opposite sides of the pedal, each surface extending above the pedal surface so that lateral movement of the user's foot when positioned on the pedal can contact one of the switch surfaces. A switch associated with each switch surface can then be activated for directionally moving the outboard motor into different positions responsive to pressure applied to one or other of the switch surfaces applied by the edge of the user's foot.

Abstract: An outboard computer system which combines the outputs from onboard course, performance and wind measuring instruments to determine a sailing vessel's instantaneous rate of progress to windward when beating. This information is then used to produce audible and/or visual signals indicating to the crew when the optimal track and sail setting for the conditions has been attained, enabling them to beat optimally under the current ambient conditions. The system is also used to control automatically the settings of each of the sailing variables: rudder, main sheet, traveller, jib sheet, etc. in order to sail the vessel optimally when beating without the intervention of the helmsman or crew. A facility is also provided for recording the instantaneous rate of progress to windward in coincidence with any other variables of interest for the purpose of post evaluation and assessment of a variety of boat related equipment and procedures. The system also provides displays relating to wind history and wind prognosis.

Abstract: A marine automatic steering apparatus in which a part or whole of its control circuit is doubled as dual steering control sections same in construction includes a non-volatile memory controlled by either of the dual steering control sections and in and from which data can be written and read out.

Abstract: A control system for a watercraft that presents the existence of more than a predetermined degree of acceleration when the watercraft is being steered through a substantial steering angle.

Abstract: A steering drive system for electric fishing motors of the type having a motor-propeller assembly supported at the lower end of a motor tube. The motor tube is driven through a friction drive arrangement by a steering gear that is rotated through a gear train by a steering drive motor. To limit the rotation of the steering gear, and thus limit the rotation of the motor-propeller assembly, a limit switch is triggered by a simple actuator driven also by the steering gear. The unique arrangement permits the motor-propeller assembly to be turned through a full range whether in forward or reverse without use of complicated gears, belts or chains.

Abstract: Several embodiments of improved mechanisms for controlling an outboard drive of a marine watercraft. In each embodiment, there is provided a hand held control unit that permits remote steering and engine control of the watercraft. In some embodiments, the hand held control includes a rotatable control element for effecting steering and a reciprocating control element for killing the engine. In some embodiments, the controls for the engine and steering are designed to be operated by different fingers of the user and in other embodiments, they are designed so as to be operated by the same finger of the operator. In addition, there is included an improved sensor for sensing the steered position of the outboard drive.

Abstract: There is disclosed a steering control system for a boat propelled by either bow mounted or transom mounted trolling motors. The steering control system includes a steering cam assembly, actuating device for imparting relative rotational movement between the steering cam and the steering cam housing, and steering device for turning the trolling motors in a manner responsive to the actuation of the switching device. The steering cam assembly has a steering cam with actuating surfaces that form varying contours, a steering cam housing that houses the steering cam such that the steering cam rotates relative to the steering cam housing, electrical switching device coupled to the steering cam housing with actuation portions responsive to the actuating surfaces. Several different embodiments of the steering device are provided that either swing the trolling motors in an arc or rotate the trolling motors.

Abstract: An automatic control system for a craft having a steering wheel connection for manual guidance of the craft, an automatic pilot sensing system connection, and a drive shaft connection for driving the craft's steerage mechanism. The automatic control system is provided with sensing signals for correction of heading by well-known auto pilot. The steering wheel is removed from the drive shaft and the automatic control system is easily installed between the drive shaft and the steering wheel. The automatic control system provides a steering shaft adaptor which provides the drive and mounting element to the craft's steering mechanism without modification to any existing components in the craft.

Abstract: A control system for causing a vehicle, such as a ship, to follow a track comprising track segments TS1, TS2 whose position and heading are specified, in accordance with a weighted function of track error and heading error. On changing from following a track segment TS1 to the next segment TS2 at P1 the vehicle will overshoot, as shown by curve A. The invention provides for the weighting factor for the heading to be temporarily increased when the vehicle changes track segments, thus reducing the overshoot as shown by curve B. A further improvement, indicated by curve C, is obtained by fixing the changeover point at P2, in advance of the track segment intersection, the amount of the advance being a function of vehicle characteristics and speed.

Abstract: There is provided a rotation control system for a Z-type propulsion apparatus which can achieve an optimum turning of a vessel under any steering conditions of the vessel by controlling the rotation speed of a hollow rotary housing of the Z-type propulsion apparatus in accordance with the load exerted on the rotary housing, the number of revolution of a propeller provided in the rotary housing, or the combination thereof. A difference between a signal representative of an angle of a steering handle and a signal representative of an angle of the rotary housing is first detected. The detected signal, which is representative of the difference between the angle of the steering handle and the angle of the rotary housing, is then limited in accordance with the load exerted on the rotary housing, speed of the vessel, or the combination thereof, and the rotary housing is driven in accordance with the limited signal.

Abstract: There is provided a system for controlling the rotation of a rotary housing mounting a propeller unit of a Z-type propulsion apparatus in which the rotary housing does not rotate in the direction opposite to that of rotation of a steering handle even when the steering handle for commanding the rotary housing to rotate is angularly moved by more than .+-.180.degree.. A vector calculation circuit either produces a sinusoidal signal representative of a sine of the difference of angle between the steering angle of the steering handle and the follow-up angle of the rotary housing and a cosine signal representative of a cosine of the difference of angle or produces the sinusoidal and cosine signals and a second sinusoidal signal representative of an angle obtained by adding 45.degree. to the difference of angle.

Abstract: An improved electric boat motor of the type including a propelling motor, a support shaft, and a coupling member for rotatably coupling the support shaft to the boat. The improvement includes an electric steering motor for continuously rotating the support shaft, an electrical energy transfer mechanism for allowing electrical energy to be continuously provided to the propelling motor as the support is continuously rotated, and a switch mechanism for controlling the passage of electrical energy to the steering motor, transfer mechanism and propelling motor.

Abstract: A control mechanism for a boat having a seat assembly to support a pilot provides an outboard motor which is directionally controlled by extension and retraction of a control cable with the control mechanism having a pedal which is generally planar on its upper surface receptive of the pilot's foot. A bracket mounts the pedal at a location below the seat assembly so that the user occupying the seat can position one of his feet on the pedal. A pair of switch surfaces are disposed on opposite sides of the pedal, each surface extending above the pedal surface so that lateral movement of the user's foot when positioned on the pedal can contact one of the switch surfaces. A switch associated with each switch surface can then be activated for directionally moving the outboard motor into different positions responsive to pressure applied to one or other of the switch surfaces applied by the edge of the user's foot.

Abstract: A maneuvering system of watercraft and the like provided with maneuvering equipment including a plurality of maneuvering devices, such as thrusters and main screws.

Abstract: An improved automatic steering controller for boats employs an adjustable feedback link between the output element and feedback elements of the system. A preferred form employs a lever arrangement in which the feedback ratio is varied by varying the lever arm to connections from the lever to one or the other, or both, of the output element and feedback element. The lever is related to the feedback element in a way that facilitates reversal of feedback element movement whereby to permit steering control from either side, port or starboard, of a tiller or wheel.

Abstract: A watercraft includes two steerable propellers driven by motors, the angular positions of and the thrusts produced by the steerable propellers being controlled by a control system. The control system includes an input device having a frame, a head and a handwheel supported on the frame for independent pivotal movement about a common first axis, and a lever supported on the head for pivotal movement about a second axis normal to the first axis. The head, handwheel and lever are each operatively coupled to a respective input element by a respective gear arrangement. A microcomputer responsive to the input elements is connected through several control devices to the motor and the steerable propellers for effecting the requisite control thereof.

Abstract: A steering thruster for a vessel includes an oil-filled reversible submergible motor driving a reversible-thrust screw. The motor is mounted on a bracket structure at the stern of the vessel and is preferably suspended from a swim platform on the vessel transom. Power for operating the motor is derived from an on-board A.C. generator through an electrical control box which may be mounted on or near the transom and a manual operating switch which may be located in the vessel cockpit or the like. The thruster assembly, may be readily mounted without having to form holes through the hull of the vessel and without having to pull the vessel from the water. The steering package, comprising the thruster assembly, electrical control box and switch provides a convenient, moderate-cost accessory for enhancing the steering characteristics of vessels of up to about 75 feet in length.

Abstract: A marine vehicle, which may comprise a sidewall gas-cushion vehicle, is provided with a pair of steering rudders, a sensor for detecting incipient undesirable motions of the vehicle, and an electrical, mechanical, and/or hydraulic system, or a hybrid thereof, for operating the rudders so as to apply restoring forces to the vehicle. The steering rudders are mounted beneath the vehicle and on opposite sides of the longitudinal axis thereof, being disposed in planes which are inclined to the vertical and which intersect above the rudders. The sensor for detecting incipient undesirable motions of the vehicle may comprise an angular rate and/or an accelerometer. The signal output of the sensor is applied to a band pass filter of pre-determined transfer function and the filtered sensing signal is applied to a summing point, to which is also applied a steering command signal.