Robust hovering control of a PVTOL aircraft

We study robust hovering control of vertical/short takeoff and landing (V/STOL) aircraft. For hovering control, we can model a V/STOL aircraft as a planar vertical takeoff and landing (PVTOL) aircraft. We use an optimal control approach to design a robust hovering control. The resulting control is a nonlinear state feedback whose robustness is demonstrated by numerical simulations.