Simulation studies on static and dynamic properties of the first mathematical model indicate that the model can function as a real-time simulator for both advanced boiler combustion control laws testing and generating training and validation data for the control-oriented grey-box model.
Simulation results for the control-oriented model taking into account the added mass and linear drag effects are presented in Figs. 4a and 5a for lateral undulation and eel-like motion patters, respectively.
Simulation results for the control-oriented model are shown in Figs. 6a and 7a, while Figs. 6b and 7b show simulation results for the complex model presented in "A complex model of underwater snake robots".
Simulation results for the control-oriented model and the complex model are presented in Figs. 8a, b and 9a, b, respectively, for lateral undulation and eel-like motion patterns.
Hence, the influence of the nonlinear function of the parameter (omega) on the forward velocity is almost negligible compared to the linear relationship between these given in Proposition 1 for the control-oriented model.
Object-oriented modelling languages have become in recent years a very attractive choice for the control-oriented, dynamic modelling of power plants, due to their ease of development, flexibility, and reusability features.
Note that the values of the gait parameter (alpha) for the complex model does not correspond directly to (alpha) for the control-oriented model, since a general mapping for the amplitudes of the corresponding models remains a topic for future work, and thus a quantitative comparison between the results from the complex and the control-oriented model is not relevant.
Note that for small values of the parameter (alpha le 20{^{circ }}), for which the control-oriented model is valid (see Remark 2), the forward velocity has an increase when increasing the parameter (alpha).
In particular, we see that for constant values of (omega) and (delta) an increase of the parameter (alpha) results in an increase of the forward velocity for both the complex and the control-oriented models.
The task-oriented instrument describes the producer's procurement policy for components whereas the control-oriented instrument is made up by penalty costs for non-correct delivery.
