Optimal Control of a Shallow Running Torpkdo

Depth regulation of a torpedo has, in the past, been successfully achieved using classical control strategies employing elevators alone. Under shallow running conditions in heavy seas such strategies are overwhelmed by the large forces exerted by the sea which tend to cause the torpedo to broach; the problem is compounded by pressure sensor noise. This paper examines the use of optimal multivariable feedback control and state estimation as a means of overcoming the problem.