It is the general purpose and primary object of the present invention to provide control laws for the synchronization and phase angle control of multiple inferior olives (IO) used in a maneuvering controller or control system of an underwater vehicle. In order to attain the objects described, the present invention provides closed-loop control of multiple inferior olives (IOs) for maneuvering a Biorobotic Autonomous Undersea Vehicle (BAUV). A model is described where variables are associated with sub-threshold oscillations and low threshold spiking. Higher threshold spiking is also described.


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