Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Table 1

Model parameters of the FSHV.

Parameter	Value	SI-unit
	23.15	m/s
		kg
		kgm^2
		kgm^2
		m
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
		kgm^2/s
	22.18	kgm^2/s
	32.45	kgm^2/s