The paper considers a problem of ship trajectory tracking control synthesis based on linear Nonioto model of ship dynamics complemented by lineari/cd equations of ship motion kinematics. In the course of state estimation, however, in order to handle influence of errors due to model simplifications as well as environmental disturbances some extra variables, modeled as random walks (Fosscnjll), are introduced. The Kalman filtering technique was then used. This way the whole problem was formali/cd as LQG-like optimal regulator problem. A number of simulations confirms the efficiency of adopted solution technique even in extremal conditions. In the course of simulations the influence of waves is modeled via specifically prefiltered white noise (Lukomsk