he subject of this book is control of marine vessels. By marine vessels we mean ships, high-speed craft, semi-submersibles, floating rigs, submarines, remotely operated and autonomous underwater vehicles, torpedoes and other propelled/powered structures e.g. a floating air field. Modeling of Marine Vessels Kinematics Dynamics of Marine Vessels Models for Wind, Waves and Ocean Currents Ship and Rig Applications Course Autopilots Autopilots with Roll Damping Trajectory Tracking and Maneuvering Control Positioning Systems Underwater VehicleApplications Propeller Control System Design Decoupled Autopilot Design 6 DOF Position and Attitude Control