I spent the summer of 2016 at the University of Arizona in Tucson, Arizona working with the Cognitive Autonomous Test (CAT) Vehicle REU. My research partner and I used system identification methods to create a mathematical model to represent the internal dynamics of the CAT Vehicle. An accurate and computationally efficient model could be used by a controller to predict future states of the system or plan the trajectory of the vehicle. By the end of the ten week program, we had found a model for the velocity controller in the vehicle and demonstrated our model on a Proportional Integral Derivative (PID) controller. Our research is explained in our paper draft. As part of the program, my fellow REU participants and I put together videos to describe our experiences. My video is embedded below.