Laying control of a submarine cable

In this paper, slack is computed from a comparison of the cable pay out rate and the ship ground speed in accordance with laying conditions, and the speed controller of the cable engine based on an H/sup /spl infin// servo control is designed for adjusting the cable engine in order to lay a desired amount of slack. The controller is designed to have the robust tracking property of the cable engine under disturbances. The performance of the designed controller is evaluated by computer simulation, and consequently, a feasibility study for laying the submarine cable stably is done through analyzing simulation results.