1. Marine Vehicle Dynamics and Control
Marine vessel motion is more complicated than spacecraft motion due to the dependence of forces and moments on attitude and velocity
Marine vessel motion is in some ways more complicated than aircraft motion
Typical first investigations of ship dynamics and control focuses on the horizontal motion of symmetric (left-to-right) ships (surge, sway, and yaw)

2. Reference Frames for Ship D&Ct i a l F m , . T y p c s u E h b o g d f 3 - x w v k ' B A 2 1 ( Ã ) Á : R =

3. Reference Frames for Ship D&C (2)l u s t r a i o n ( f m T . F - e ' G d c C O V h ) w p b x y , g

4. Motion Equations for a Rigid Shipb : _ v = ! + 1 m f u i d t h r s R a g I S ( ) w e [ ] T N o n x p , M c
& l ; q A - y z 6

5. Motion Equations for a Rigid Shipy p c l w h M _ + C ( ) D g = [ v T ! ] , d x b j . I F G O V W - 1 9 4 S H 2 3

6. Modeling Fluid Forces A s u m p t i o n : F r c e a d g b y l f 1 . R- w h v x q M _ C ( ) P D W O , k 2 K 3 E 4 /

7. Horizontal Motion T h e s t a v c o r i x = ! µ [ u w p q y z Á Ã ] F, d ; g f : ( X _ ) + Y G U N I .

8. Horizontal Motion (2) L i n e a r z d q u t o s f h l m : ( ¡ X ) = +_ ) = + Y v x G U N I C y g c p w à T - M A 1 B

9. Horizontal Motion (3) T h e c o u p l d s w a y - t m i · ¡ Y x N I ¸_ v x G r N I z = U + f M A 1 B S b n : C ( )
> g k ; ,

10. Stability Analysis via Routh-Hurwitzp o s e w k n A i t r m f y a ; . , = ( I x ) H c d b l g ? R h - z D v : + 1 2 6 4 3 7 5

11. Stability Analysis via Routh-Hurwitz (2)e H u r w i t z m a x s = 2 6 4 n 1 3 . 7 5 D p c l o f b y d

12. Stability Analysis via Routh-Hurwitz (3)e c s a r y n d u i t o f h m p b l _ x = A
> 8 1 ; S , ( ) T g w z - v I :

13. Stability Analysis via Routh-Hurwitz (4)f a r e l i g n v u c o s t h m y x , p ( ) = . 1 T b d w :

14. Stability Analysis via Routh-Hurwitz (5)p o s e A = 1 2 . T h n t c a r i l y - m ( ) + f H
>
< d 3 w x D 4 v

15. Stability Analysis via Routh-Hurwitz (6)p o s e A = 1 2 4 . T h n t c d i a r
> )
< X ( + E x : v f y m l b w