Digital control laws for marine autopilots with integral action

In the paper the digital control law with multipurpose structure is considered. The statement of stability for close-loop systems is proved. The integral action of the controllers is considered. The statement in which it is the controller that provides integral action for close-loop system is proved. The principles of MP-structure are considered by two examples of roll feedback control for marine ships and roll stabilization. In the examples the comparison of PID control law and MP-strructure are shown. Bibliogr. 9. Il. 2.