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Polkinghorne, M., Roberts, G.N. and Burns, R.S., 1993. Small marine vessel application of a fuzzy PID autopilot. In: 12th IFAC World Congress Proceedings, Sydney, Australia, 19-23 July 1993. IFAC, pp. 409-412.
Burns, R.S. and Polkinghorne, M., 1993. A neural network controller for optimal guidance of surface ships. In: 10th Ship Control Systems Symposium, October 1993, Ottawa, Canada. WIT Press.