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Considering that the model mismatch problem occurs when the ship is sailing, the model mismatch and external disturbance are regarded as the total disturbance. A discrete 3-degree-of-freedom ship disturbance mathematical model is established. The rudder angle and fin angle are selected as the system inputs, then a sliding mode observer is designed to observe the time-varying disturbance and system output in real time. Different from traditional MPC and feedforward compensation, I-MPC will predict the output based on the disturbance observation value, and the control law is solved under rudder\/fin angle and angular velocity constraints. Simulation results show that the proposed method improves the tracking performance and anti-disturbance performance of the rudder\/fin system. The observer has high observation accuracy for constant, sinusoidal, and time-varying disturbances. Mechanism wear and energy loss caused by frequent operation are avoided.<\/jats:p>","DOI":"10.1177\/01423312231162710","type":"journal-article","created":{"date-parts":[[2023,5,8]],"date-time":"2023-05-08T08:03:47Z","timestamp":1683533027000},"page":"3198-3210","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Rudder\/fin joint anti-rolling control system based on interference model predictive control and sliding mode observer"],"prefix":"10.1177","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6528-919X","authenticated-orcid":false,"given":"Mingxiao","family":"Sun","sequence":"first","affiliation":[{"name":"School of Automation, Harbin University of Science and Technology, China"},{"name":"Wuxi CREG Urban Rail Transit Equipment Co., Ltd, China"},{"name":"Heilongjiang Provincial Key Laboratory of Complex Intelligent System and Integration, Harbin University of Science and Technology, 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