Within the research activities on the aerial vehicle control, we have been particularly interested in the PVTOL aircraft model for several reasons. The planar vertical take-off and landing (PVTOL) aircraft system is indeed based on a simplified real aircraft model which possesses a minimal number of states and inputs but which retains the main features that must be considered when designing control laws for a real aircraft. It also serves as a support for researchers interested in helicopter aerodynamics, because it represents a simplified mathematical model of a helicopter. It then represents a good test-bed for researchers, teachers and students working on flying vehicles.

Let us recall that the PVTOL aircraft system is an underactuated system, since it possesses two inputs *u*_{1}*, u*** _{2}** and three degrees of freedom [

The control of the PVTOL aircraft represents a real challenge because of its simplicity, its nonlinear nature and its particular properties. Indeed, the system has a nonminimum phase as the linearized system possesses an unstable zero dynamic because of the coupling between the ...

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