Popovich, NSingh, RR2019-02-282019-02-282016-10-012016-10-01International Journal of Computers and Communications, Volume 10, 2016, pp. 120-128.2074-1294https://hdl.handle.net/10292/12294In this paper a mathematical model for the steering control system of submersible vehicle is presented. System has been analysed with numerical and graph-analytical methods. Different types of controllers: P, PI, PD and PID are investigated. Ultimate sensitivity tuning method (Ziegler-Nichols Second method) is used to establish initial controller parameters. Optimal controller parameters have been determined using a Fine tuning method. PD controller has chosen as the best option for the system. Two different criteria are selected to find controller’s optimal parameters: Integral Squared Error and Integral Absolute Error. Dynamical behaviour of the system has been simulated by Simulink and Matlab. Non-linear elements are added to protect a rudder/steering gear. A sea current as the dominant disturbance has been implemented in the system and its influence on the system has been investigated.The PDF files of all NAUN Journals are open to everyone, without any username/password requirements.Submersible vehicle; Steering control; Simulink; Optimal parameters; ISE and IAE; Non-linear system; DisturbanceJournal ArticleOpenAccess