This text develops the dynamics and control of surface and underwater vehicles from first principles to modern design. It links hydrodynamics, system identification, and feedback synthesis with practical models for propulsion, actuators, and towing.

Key Topics

• Vessel kinematics
• Sway/yaw stability
• Slender-body lift
• Propeller/thruster models
• LQR, KF, LTR design

Authors: Michael S. Triantafyllou and Franz S. Hover