Nomenclature Summary Introduction 1. Mathematical modeling of ship 1.1. Introduction 1.2. Kinematics 1.3. Dynamics of the ship 1.4. Simplified models of ship's dynamics 2. Problems related to automatic control of ship motion 2.1. Introduction 2.2. Path planning 2.3. Guidance 2.4. Navigation 2.5. Control 3. Multi-operational control system for marine surface vessels 3.1. Problem of ship motion control 3.2. Switching systems used in control 3.3. Structure of switching-based control system for ship motion 3.4. Path planning 3.5. Supervisor 3.6. Estimating ship's speed 3.7. Bank of controllers 3.8. Conclusions 4. Experiments with multi-operational control system for ships 4.1. Setting of parameter values for control and navigation systems 4.2. Case study of navigation scenario 4.3. Conclusions Closing remarks Appendices Appendix A. Mathematical model of training ship blue lady Appendix B. Discrete-time Kalman filter Appendix C. Sample desired path Appendix D. Real-time software and hardware equipment References