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A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.<\/jats:p>","DOI":"10.1017\/s0263574720000739","type":"journal-article","created":{"date-parts":[[2020,9,8]],"date-time":"2020-09-08T06:26:06Z","timestamp":1599546366000},"page":"798-815","source":"Crossref","is-referenced-by-count":2,"title":["Design, Construction, and Control for an Underwater Vehicle Type Sepiida"],"prefix":"10.1017","volume":"39","author":[{"given":"M.","family":"Garcia","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8324-8762","authenticated-orcid":false,"given":"P.","family":"Castillo","sequence":"additional","affiliation":[]},{"given":"E.","family":"Campos","sequence":"additional","affiliation":[]},{"given":"R.","family":"Lozano","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2020,9,8]]},"reference":[{"key":"S0263574720000739_ref28","first-page":"1687814019848556","article-title":"Design and control of hybrid underwater glider","volume":"11","author":"Dae-Hyeong","year":"2019","journal-title":"Adv. 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