[keepamovin]

Maybe they don't need to model the fluid dynamics, they just need to detect the mass movement / acceleration forces caused by it, and use those sensor inputs to inform a picture that's fed into their correction thursting.

Sort of like how you can balance a few pitchers of beer on a tray in your hand by remaining aware of the weight, even when people remove one! hahaha :)

[m4rtink]

Still if there indeed is "free" mass moving about, you need to make sure your control inputs don't make it slosh harder, so you compensate for that, so it sloshes even harder, etc - basically avoiding oscilation. :)

[keepamovin]

Yeah..ah, control theory. Heh :)