@article {Whitcomb1999a,
	title = {{Development, comparison and preliminary experimental validation of nonlinear dyanmic thruster models}},
	journal = {IEEE Journal of Oceanic Engineering},
	volume = {24},
	number = {4},
	year = {1999},
	pages = {481{\textendash}494},
	issn = {0364-9059},
	doi = {10.1109/48.809270},
	url = {http://dx.doi.org/10.1109/48.809270},
	author = {Whitcomb, L L and Yoerger, D R}
}
