@article {Yoerger1990a,
	title = {{The influence of thruster dynamics on underwater behavior and their incorporation into control system design}},
	journal = {IEEE Journal of Oceanic Engineering},
	volume = {15},
	number = {3},
	year = {1990},
	pages = {167{\textendash}178},
	issn = {0364-9059},
	doi = {10.1109/48.107145},
	url = {http://dx.doi.org/10.1109/48.107145},
	author = {Yoerger, D R and Cooke, J G and Slotine, J E}
}
