| Summary: | This manuscript compares deterministic artificial intelligence to a model-following control applied to DC motor control, including an evaluation of the threshold computation rate to let unmanned underwater vehicles correctly follow the challenging discontinuous square wave command signal. The approaches presented in the main text are validated by simulations in MATLAB<sup>®</sup>, where the motor process is discretized at multiple step sizes, which is inversely proportional to the computation rate. Performance is compared to canonical benchmarks that are evaluated by the error mean and standard deviation. With a large step size, discrete deterministic artificial intelligence shows a larger error mean than the model-following self-turning regulator approach (the selected benchmark). However, the performance improves with a decreasing step size. The error mean is close to the continuous deterministic artificial intelligence when the step size is reduced to 0.2 s, which means that the computation rate and the sampling period restrict discrete deterministic artificial intelligence. In that case, continuous deterministic artificial intelligence is the most feasible and reliable selection for future applications on unmanned underwater vehicles, since it is superior to all the approaches investigated at multiple computation rates.
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