Simplified modeling approach to system identification of nonlinear boat dynamics

This paper develops a general methodology for identifying non-linear boat dynamics with respect to varying a boat's jet thrust angle and RPM inputs. Parameter identification is formulated in terms of integrals, which enables a set of linear equations in the parameters to be set up. This approach then allows for creation of a simplified and more easily identified model to bootstrap a pure non-linear model with very little computational effort required. As proof of concept, the integral method is used to reproduce the dynamics of a non-linear boat model. Results demonstrate that the integral method is fast and accurate while a comparison against the NARMAX modeling shows a definite speed advantage.