Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane

Table 1

Physical parameters of DOLPHIN AUV.

Description	Values	Units
	4390	kg
Length	8.534	m
Beam	1	m
	1315	Kg⋅m^2
	5900	Kg⋅m^2
	5057	Kg⋅m^2
Location of CG		m
Location of BG		m