The author choosed weighting matrix for different sea conditions , designed the controller and the rudder / fin joint control system . finally , the author simulated the controller with matlab . according to the simulation curves and data , we could find that the controller designed using state feedback control theory has nice control performance on rearing and rolling , but the control performance on pitching is not very good 为不同的海情选取了加权阵，求出控制器，完成了船舶舵鳍联合控制系统的设计工作最后，用matlab语言对控制器进行仿真，从仿真曲线和仿真数据可以看出，使用状态反馈h ~控制理论设计出来的控制器对艏摇与横摇有较好的控制效果，而对横荡控制效果不理想，基本达到控制目的。
