Control of descent submarine vehicle in conditions of heavy sea

For damping vertical vibrations of descent submarine vehicle in conditions of heavy sea the paper proposes control system that uses cushioning winch located on the submarine vehicle. The winch control loop includes robust proportional-integral controller which guarantees preservation of acceptable dynamic properties of the system under the interval change of unit mass and rope length. Parametric synthesis controller is based on a robust expansion coefficient method of evaluation of quality indicators. The operability of the proposed system is confirmed by results of digital simulation.