Model identification and control analysis for underwater thruster system

This paper conducts an analysis to obtain underwater thruster model using system identification approach. Performance of the developed model is further analysed by simulating it with PID control system. Four realization approaches are investigated whereby methods that carry the highest best fit value are chosen. Open loop and closed-loop control analysis are run for this purpose. From results, model which have best fit value of 98% able to provide good performance for open loop deployment analysis, whereas models with accuracy around 70% only unable to give satisfactory result. However, all the models show good performance for closed-loop analysis, in which, the PID controller model has played a role in improving the system performance.