A nonlinear PID control method with optimal correction function and its application in torpedo trajectory control system

A design method on nonlinear PID controller with optimal correction function is presented. By choosing parameters off- line and optimizing correction function on-line, an excellent controller can be designed which is liable to realize in engineering. Using this method, a nonlinear PID control system is designed for a torpedo with serious nonlinearity, and simulation studies are conducted under different initial conditions. The results show that the designed nonlinear torpedo trajectory control system not only possesses better dynamic and static properties, but also has strong adaptability to the changes of initial conditions.