潜艇近水面运动情况下的深度及纵倾控制问题是一种非线性控制问题，潜艇自身质量及航速的变化、以及外界不规则海浪使得控制系统难于设计。
Submarine depth and rolling control near the water surface is a kind of nonlinearity control problem. The change of submarine mass, speed and ocean wave make it difficult to design of control system.
设计变量直接取吃水、横倾角和纵倾角，不必预先计算倾角的正切值，使用方便。
Using the mean draft, heel Angle and trim Angle as the design variables, it need not calculate tangent values of the angles and is more convenient for application.
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