Safe Iterative Control and Identification Applied to Submarine Pitch and Depth Loops

Danae A. Apablaza Toledo and Ricardo A. Rojas Reischel


Closed-loop Identification, Controller Tuning, Iterative Identification and Control, Youla Parametrization


This paper introduces the method Safe Iterative Identification and Control, to improve the performance of an existing control law, using closed loop identification and ensuring a minimum stability margin.This method is analyzed, pointing out some of the main difficulties and outlining some solutions to make it applicable to a specific multivariable and unstable case. Afterwards, the method is applied in detail to a simulated multivariable system with those characteristics, corresponding to a submarine.

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