ABSTRACT
A conventional PD controller was designed to form a benchmark, against which the performance of non-conventional design techniques could be compared. Integration is inherent in the yaw loop and no further integral term was considered necessary within the controller. Pole-placement techniques were used to design scheduled PD controllers, gain scheduled against thruster input in the following manner:
The vehicle was trimmed such that the vehicle was in a steady state condition with all forces balanced and the vehicle dynamics were linearised over the range of operating speeds given in table 1 (in terms of thruster rps ).
