Nonlinear <svg     style="vertical-align:-4.47127pt;width:36.412498px;" id="M1" height="20.262501" version="1.1" viewBox="0 0 36.412498 20.262501" width="36.412498"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
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</svg> Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

<table>Three-dimensional view for the nonlinear <svg height="15.4" id="M125" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 27.7875 15.4" width="27.7875" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M865 650q-1 -4 -4 -14t-4 -14q-62 -5 -77 -19.5t-29 -82.5l-74 -394q-12 -61 -0.5 -77t75.5 -21l-6 -28h-273l8 28q64 5 82 21t29 76l36 198h-380l-37 -197q-11 -64 0.5 -78.5t79.5 -19.5l-6 -28h-268l6 28q60 6 75.5 21.5t26.5 76.5l75 394q13 66 2 81.5t-77 20.5l8 28
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<g transform="matrix(.012,-0,0,-.012,14.975,15.187)"><path d="M983 225q0 -112 -67 -174.5t-150 -62.5q-91 0 -154.5 43.5t-113.5 129.5q-49 -85 -104 -129t-138 -44q-98 0 -158.5 66t-60.5 154q0 59 21 106.5t54.5 75.5t70.5 43t73 15q90 0 152.5 -43.5t112.5 -128.5q48 84 104.5 128t140.5 44q93 0 155 -65t62 -158zM478 196
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</svg> optimal control law with region function formulation.</table>

Journal of Applied Mathematics

fig5

Figure 5

Figure 5: Nonlinear <svg     style="vertical-align:-4.47127pt;width:36.412498px;" id="M1" height="20.262501" version="1.1" viewBox="0 0 36.412498 20.262501" width="36.412498"  xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg">
	
		
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</svg> Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation 

Journal of Applied Mathematics

Nonlinear Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation

Figure 5