A switched H∞ strategy for control of a submarine

Discusses the application of H_∞ optimisation techniques to the design of a control system for a submarine. The dynamics of a submarine change significantly with speed, and to cover the speed envelope from 3 to 18 knots the authors have developed a strategy based on switching of H_∞ controllers. The necessary compensation to achieve bumpless transfer during switching is also the basis of a controller conditioning strategy for maintaining performance in the presence of actuator saturations. Nonlinear simulation results demonstrate the effectiveness of the approach. These implementation issues are crucial if multivariable controllers are to find widespread application is industrial (nonlinear) applications