Controlling the PVTOL Aircraft System with an Inverted Pendular Load by means of Nested Saturation Functions and GPI Controller

Table 1

Tuning parameters for controllers.

Controller	Control parameter	Gain
		3
		167
		299
		183
		62
		11
		1.45
		167
		299
		183
		62
		1
		0.11
		0.24
		0.49
		0.99