# Saturation based nonlinear PID control for underwater vehicles: Design, stability analysis and experiments

> Research article (Mechatronics, 2019) · cited 90× · AI/ML

**Wikidata**: [openalex:W2953132306](https://www.wikidata.org/wiki/openalex:W2953132306)  
**Source**: https://4ort.xyz/entity/saturation-based-nonlinear-pid-control-for-underwater-vehicles-design-stability-analysis-and-experiments