5.1. ModelBasis
To investigate the dynamics of this system a time-domain model of dynamics was constructedin the
MATLAB/Simulink environment using the Marine Systems Simulator Toolbox [11] andan in-house
aerodynamic code y based on the Double Multiple Streamtube (DMST) model[12] with modifications
[13].The hydrodynamic model is based upon the equation proposed by Cummins[14]: