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In this paper we present a method for obtaining a second order Nomoto model that describes the yaw dynamic of a Patrol River Boat. This model is obtained from experimental input and output data gathered from the turning circle maneuver. System identifications techniques and a gray box model are employed to find the coefficients of the Nomoto model. The results of the identification process as well as the results of validation process are presented
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Carrillo et al. (2018) studied this question.
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