The article covers the issues of the mathematic simulation of the pollution particle motion process in the fluid stream, and there are defined the options influencing the process of the sweat. There are also analysed the challenging problems of the effluent water dispose. There is also devoted attention to the updating of the sedimentation process by the use of constrained features which exclude sediments in the objectionable points of the cleansing system and etc.

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The development of systems for automated water monitoring for quality control in reservoirs (SAWM) allows the prompt real-time assessment of the environmental situation at various points in the monitoring area. One of the main steps preceding the study of the water quality is sampling. The stationary character of such pollution analyzers makes it practically impossible to provide control at various sites of the monitoring object. In this article, there is considered a problem of specified rectilinear motion separation, in definition of the miniature unmanned underwater vehicles (MUUV) "specified point" desired position and perturbed motion resulting from an external disturbance. The research objectives are the development of mathematical models describing the process of MUUV trajectory generation, as well as the development of a mathematical model of the MUUV system. The development of a motion control strategy in the study of water quality is carried out to organize the sampling process. A mathematical model which describes perturbed motion is proposed, and a method for the synthesis of the parameters of control system regulator based on the decomposition of the MUUV motion equations and transient process is developed. Mathematical models of the force factors acting on the MUUV were developed in view of external pulse disturbances. Mathematical model of autonomous space motion of miniature unmanned underwater vehicles (MUUV) is presented. The method of regulator parameters definition by use of roots approach is considered.