Output Feedback Stabilization of Towed Marine Cable

This paper addresses the output feedback stabilization of towed marine cable. We consider a towed marine cable, attached to depth controllers at both ends. The dynamics of the cable are described by a nonlinear partial differential equation, adopted from (Ersdal [2004] and Kennedy [1987]). The dynamics of the depth controllers are given by ordinary differential equations. Based on boundary measurements, exponentially stable observer is designed. Using the information from the observer and boundary measurements, exponentially stabilizing controllers are proposed. The observer and controllers depend only on boundary measurements, the costs are thus minimized and spillover instability is avoided.