Yii Seo Friendly Url With Createurl Command

Hi everyone!

I read some tutorials/examples about SEO friendly urls, but i didn't understand how it works in YII framework.
I read some articels about createUrl and routings, but i don't know how i can use it.

For an example

I would like to change this url

http://www[dot]mydomain[dot]com/project/view?id=69

to

http://www[dot]mydomain[dot]com/project/view/project_title_here

or

http://www[dot]mydomain[dot]com/project/view/id/project_title_here

I am sorry for my English.