Designing an automatic control system for a submarine

Abstract

The purpose of this thesis is to linearize given non-linear differential equations and design a complete automatic control system for the three dimensional motions of a submarine. Automatic control systems are designed using a steady state decoupling scheme for vertical and horizontal motion. Both designs are simulated using the Dynamic Simulation Language (DSL) for both linear and non-linear models and compared. Cross-coupling effect between horizontal and vertical motions due to the rudder deflections is also investigated. Theses. (FR)