Abstract: In various research and experimental areas under ocean without human intervention we need a vehicle which can accomplish the required task is known as “UNMANNED UNDER WATERVEHICLE”. In this project we will efficiently model the system and perform the various simulation tasks for pitch angle and yaw angle control by using classical control techniques i.e. P,PI,PD,PID and linear quadratic controller(LQR). By using these control techniques we will obtain the best possible performance technique to control the pitch angle and yaw angle and also here we will close compare the various parameters of different controllers.

Keywords: MATLAB, P, PI, PD, PID, LQR controllers.