Analytical representation of nonlinear Froude-Krylov forces for 3-DoF point absorbing wave energy devices

The framework presented in the paper offers flexibility in terms of computational and fidelity levels, while still representing important nonlinear phenomena such as parametric pitch instability. Models with lower computational requirements may be more suitable for repetitive calculations, such as real-time control, or long-term power production assessment, while higher fidelity models may be more appropriate for maximum load estimation, or short-term power production capability assessment.