**2. Control law design and analysis**

Before delving into the laws governing how a particular control system produces a correcting signal, it is necessary to look at the requirements of the various systems within an AUV. This will provide an understanding of how the control system fits in with respect to the overall autonomy architecture of an AUV. The different types of disturbances must be acknowledged such that the effect of these disturbances is minimised, and the equations related to the dynamic motion of the vehicle must be analysed. Only after reviewing these factors can the control law be designed and analysed.
