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A nonlinear H∞ measurement feedback control algorithm is exploited for the control of Autonomous Underwater Vehicle in the Dive Plane. Here, the control algorithm is designed with the combination of a nonlinear H∞ state feedback law along with a nonlinear observer. The control problem of measurement feedback is formulated in terms of two Hamilton-Jacobi-Isaacs inequality by using the dissipative theory. The solution of the control law is obtained by solving both the inequalities. The controller is intended to track different desired depth values by attenuating the external disturbance. The simulation results are realized using MATLAB/Simulink which suggest that the controller is effective in tracking by ensuring the internal stability and robustness.