Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle

<table>(a) Configuration of the depth (altitude) control system for R-One. (b) Configuration of the heading control system for R-One.</table>

Mathematical Problems in Engineering

Figure 8: Applied Model-Based Analysis and Synthesis for the Dynamics, Guidance, and Control of an Autonomous Undersea Vehicle 