Efficient multivariable submarine depth-control system design

An efficient solution for the multivariable submarine control design at low-depth conditions under the influence of wave disturbances is presented. The analysis and control design process is carried out under the framework of individual channel analysis and design (ICAD), which is based on the multivariable structure function (MSF). Classical frequency-domain control techniques based on Bode and Nyquist plots are used. Robustness is stated in terms of gain and phase margins. The closed-loop system includes low-order diagonal controllers facilitating its implementation, assessment, and tuning. ICAD discloses new physical insights of the submarine dynamical behaviour. Previous designs based on diagonal controllers consider the input-output channels defined by pairing the bow hydroplane angle with the depth and the stern hydroplane angle with the pitch angle. The alternative input-output pairing leads to unstable closed-loop systems. This phenomenon is associated with hydroplane reverse control. Here it is shown that MSF-based diagonal controllers can be applied effectively for both sets of channel configurations. Emphasis is placed on satisfying design specifications aiming at maintaining the depth low. The solution presented is more feasible and clearer to apply in practice than those so far reported in the literature.