This book is intended for senior undergraduate or post graduate in electronics and electrical engineering. This book is based on the author research and study experiences. It is aimed to give overview of controlling the leveling motion of underwater vehicle. This book is divided into five chapters. The first chapter which is the introduction represents the overview of ROV in general. Chapter 2 covers the review of each critical points of current knowledge including essential findings as well as theoretical and methodological contributions to a particular topic. Chapter 3 explains the systematic study of methods that have been applied within the experiment that consists of project activities, system architecture, hardware design and software design. Chapter 4 discusses and compares the data of results and analysis that have been obtained from the testing of hardware and software throughout the system development. Chapter 5 is the final chapter that provides the conclusion of the system design and development. Additionally, it discusses the promising direction of recommendation in future work based on the expected results presented in Chapter 4.