Performing different manoeuvres in vertical and horizontal planes is one of the most important tasks that rise during the control of any object. In the paper the problem of implementing movement in the mode of moving along a linear coordinate (depth) for an unmanned underwater vehicle is considered. The algorithm for construction the control law that satisfy the specified conditions, e.g. the specified equilibrium position in vertical plane, astaticism, is presented. The control law with filter is constructed. This algorithm was implemented in MATLAB with the subsystem Simulink. MATLAB one of the most powerful systems for computer modelling and analysis of dynamic systems, so this algorithm and its realization with small changes can be easily used for any object.