Abstarct: Since physical systems, in almost cases do not show good stability and tracking characteristics, therefore Physical systems need to have a controller. Due to this reason, a controller with a proper compensator should be designed for physical systems to make them stable and also features for tracking the system input. Professor Horowitz began developing the Quantitative Feedback Theory (QFT) in early 1960. Since then great studies have been made in exploiting the full potential of QFT technique. It is a frequency domain technique for designing a class of control systems for linear and nonlinear systems. Ship system can also have a controller for stability and tracking. The main aim, is steering and controlling rudder in maneuvering which results in changing or keeping ship direction, in a manner, to improve the performance and reduction fuel consuming. The model which is considered in this paper is Nomoto linear model. In this research, a conventional model for ship pilot is considered, then for this system at first, uncertainty region of the ship, characteristics of the stability and robust tracking and eliminating disturbance is assumed. Then ship direction changing and direction keeping pilot and the pre filter is designed. At last this controller in Z domain is designed and compared with digital PID.