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The purpose of this research is to accomplish the ZPETC (Zero Phase Error Tracking Control) Path-Tracking gain-scheduling control design and real-time multi-task flight simulation for the automatic transition of tilt-rotor aircraft. Firstly, we select 20 flight equilibrium points during the automatic transition through the trim operation. For each equilibrium state, we can get a set of Jacobian matrix A, B of the linearized equation by using the numerical linearization method and perform the flight control system design. Due to the highly instability of the system for the period of the dynamic transition maneuver, if we want to stabilize the unstable aircraft and do the desired path tracking for the vertical take off flight, then it is necessary to use the optimal controller and the ZPETC method. In this research, we use the quadratic synthesis method to find an optimal control gain for each flight equilibrium point and then perform the desired VTOL (Vertical Take-Off and Landing) transition path tracking by using ZPETC method. Also we utilize real-time look-up control gain computation from the selected 20 flight equilibrium points to achieve the gain-scheduling control task.