Text this: Analytical control design for a biomimetic robotic fish

  _____    __   __   _____      ______     _____  
 / ____||  \ \\/ // |  __ \\   /_   _//   / ___// 
/ //---`'   \ ` //  | |  \ ||   -| ||-    \___ \\ 
\ \\___      | ||   | |__/ ||   _| ||_    /    // 
 \_____||    |_||   |_____//   /_____//  /____//  
  `----`     `-`'    -----`    `-----`  `-----`