
integrators collectively referred to as Runga–Kutta. Chapter 6 includes a discussion of Runga–Kutta
integration.
The command and actual depth rate signals are shown in Figure 5.17. Note the discontinuity in
the actual depth rate at t ¼0 and t ¼30 s. This implies the existence of a direct path from the
command depth rate v
com
to the actual depth rate v without integrators present. The direct path is not
apparent in Figure 5.16; however, it would be evident on a simulation diagram of the system.
The stern plane angle (8) and the actual submarine depth (ft) are shown in Figure 5.18.
The presence of a direct path with only algebraic blocks from command ...