Multivariable Control System Design for a Submarine,

Abstract

A nonlinear controller is designed for a full size submarine using the LQG/LTR procedure. Linear models of the submarine are developed at four different speeds and then analyzed using the method of modal analysis. The linear models are then augmented with integral control and a Kalman Filter transfer function is designed using some tools for loop shaping. The Loop Transfer Recovery technique is then applied to recover the Kalman Filter Loop shapes. A polynomial data fit is performed on the resulting compensators to produce a nonlinear controller. Both the linear and the nonlinear controllers are extensively tested using a full nonlinear model of the submarine. (Author)

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1984
Accession Number
ADA142928

Entities

People

  • K. A. Lively

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Closed Loop Systems
  • Computational Science
  • Computer Programming
  • Computer Programs
  • Computers
  • Control Surfaces
  • Control Systems
  • Control Systems Engineering
  • Coordinate Systems
  • Dynamic Response
  • Engineering
  • Engineers
  • Equations
  • Equations Of Motion
  • Modal Analysis
  • Procedures (Computers)
  • Systems Engineering

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