The Avemar ferry, shown in Figure PI0.9(a), is a large 670-ton ferry hydrofoil built for Mediterranean ferry service. It is capable of 45 knots (52 mph) [29]. The boat's appearance, like its performance, derives from the innovative design of the narrow "wave piercing" hulls which move through the water like racing shells. Between the hulls is a third quasihull which gives additional buoyancy in rough seas. Loaded with 900 passengers and crew, and a mix of cars, buses, and freight cars trucks, one of the boats can carry almost its own weight. The Avemar is capable of operating in seas with waves up to 8 ft in amplitude at a speed of 40 knots as a result of an automatic stabilization control system. Stabilization is achieved by means of flaps on the main foils and the adjustment of the aft foil. The stabilization control system maintains a level flight through rough seas. Thus, a system that minimizes deviations from a constant lift force or, equivalently, that minimizes the pitch angle 8 has been designed. A block diagram of the lift control system is shown in Figure P10.9(b).The desired response of the system to wave disturbance is a constant-level travel of the craft. Establish a set of reasonable specifications and design a compensator Gc(s) so that the performance of the system is suitable. Assume that the disturbance is due to waves with a frequency o) = 6 rad/s.

Tas) CompensatorAmplifierActuator Foil and vehicle dynamics 50 802500 I angle