In this text book, mathematical formulations for the dynamics of raising sunken vessels using buoyant systems are developed in a form which is suitable for integrating control techniques to ensure both hydrodynamic and structural stability for a safe and stable salvaging operation based on both rigid body modeling and flexible body modeling concepts. Due to the coupled nature of salvage dynamics and for integrating controller techniques, the mathematical modeling is carried out as two subsystems. In the primary model, the salvage dynamics is formulated in such a way that the variation in...