We don’t have one documented for a single thruster, because ArduSub doesn’t account for thruster properties in its vehicle control, just their direction components. The control space is over the full vehicle angles (ATC_ANG_* params) and rates (ATC_RAT_* params) - there’s some more detail in the ArduCopter Attitude Control docs.
If it’s relevant, I did a couple of forum searches and came up with the following posts, which may be useful:
- T200 Transient Response
- T200 Simulation in Gazebo
- T200 Dynamic Properties
- BlueROV2 Control Matlab Simulink
By the way, I edited your example transfer function to be rendered as maths. There are instructions for how to do that in the Formatting a Post/Comment section of the “How to Use the Blue Robotics Forum” pinned post 