Multivariable submarine control system analysis and design using an interactive visualization tool

This paper describes an Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environment which may be used for analyzing, designing, visualizing and evaluating the performance of robust multivariable submarine control systems. The described MoSART environment is based on Microsoft Windows NT/95/98, Visual C++, Microsoft Direct-3D, and MATLAB/SIMULINK. The environment consists of several key modules: (i) a program user-interface (PUI) module, (ii) a real-time simulation (RTS) module, (iii) a graphical visualization and animation (GVA) module, and (iv) a help/instruct module. The environment also accommodates data exchange with MATLAB. This is useful for control system analysis and redesign. This makes the developed environment very extensible with respect to mathematical modeling and control. The developed Interactive MoSART Submarine Environment is shown to be a valuable tool for enhancing the analysis and design process. Examples are presented to illustrate its utility