Submarine motion robust control in vertical plane

In this paper,submarine movement control in vertical plane was discussed and a robust arithmetic based on mix-sensitivity was advanced by studied the state function of submarine linear model,which to enhance the adaptability of submarine controller on multiplex indeterminacy.The simulated analysis shows that the proposed algorithm possesses preferable dynamic characteristic,robustness and well adaptability to model indeterminacy based on eligible control precision.To sum up,the robust arithmetic will play a important role in vertical submarine motion system.