H-Infinity Design for a Sonar-Platform

In this paper, a high-precision control system design for a real sonar-platform is reported. Specifically, how to transfer a real engineering problem into a standard H _infin control design problem is demonstrated. A novel, yet simple weighting function is proposed to incorporate the hard constraints and system performance specifications. Sea wave disturbances, water resistance due to ship navigating, non-linear friction in cylinders, etc. are discussed. A new H _infin control structure with inner PID control loop is deployed. Simulation results demonstrate that this is a rather satisfactory design.