%0 Conference Proceedings %T Depth Control of a Submarine: An Application of Structured H Synthesis Method for Uncertain Models based on Interval Analysis %+ Lab-STICC_ENSTAB_CID_PRASYS %A Lefort, Alexandre %A Santo, Xavier Dal %A Ninin, Jordan %A Clement, Benoit %< avec comité de lecture %B 2018 Australian & New Zealand Control Conference (ANZCC) %C Melbourne, Australia %I IEEE %P 269-274 %8 2018-12-07 %D 2018 %R 10.1109/ANZCC.2018.8606583 %K Closed loop systems %K Frequency domain analysis %K Stability criteria %K Submarines %Z Engineering Sciences [physics]/AutomaticConference papers %X This paper introduces a robust and structured controller synthesis method dealing with uncertain system dynamics. Postulating time-invariant and bounded errors on both system inner parameters and external disturbances this method provides formal proof of compliance to a given set of stability and performance criteria. This guarantee is obtained through the interval analysis of the closed-loop system which encompasses any possible time-domain and frequency-domain variations. Here this method is applied to the robust frequency attenuation, seen as H ∞ criteria, and stability for depth control of a submarine. This paper then emphasizes the synthesis method from model and regulation problem definitions to synthesis implementation and discuss its results. %G English %L hal-02090264 %U https://ensta-bretagne.hal.science/hal-02090264 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM