Mathematical modeling of a submerged vehicle is accomplished using the Naval Ship Research and Development Center 2510 Report equations of motion with crossflow and vortex shedding terms added. A multivariable depth and heading controller is designed using the Linear Quadratic Gaussian/Loop Transfer Recovery design procedure wherein stability and robustness specifications are met in the frequency domain for a MIMO (Multi Input Multi Output) system. The resulting combination of the model-based compensator and plant is tested using a nonlinear simulation. With gain scheduling, multivariable control is extended over the vehicle's entire speed range.


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