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The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.Swim bladder disorders and consequent buoyancy problems are encountered in ornamental fish, including koi carp. Nevertheless, beyond clinical and pharmacological management, they are largely underdiagnosed. In this study, nine koi carp showing abdominal swelling and abnormal swimming behavi