Research Article
Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller
Figure 5
Angular velocities’ closed-loop response of the proposed controller. (a) Behaviour of state . (b) Behaviour of state . (c) Behaviour of state . (d) Behaviour of state .
| (a) |
| (b) |
| (c) |
| (d) |