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The concept, known as the Canard Rotor/Wing (CRW) unmanned aerial vehicle (UAV) combines the hover flight characteristic of a helicopter with high subsonic cruise of a fixed-wing aircraft. The longitudinal flight dynamic model of CRW was developed, and the trim result was derived in the full flight envelope. The linear model of CRW was derived by the Jacobian linear method, and it was nonlinearly dependent on the time-varying flight speed and altitude. The tensor-product (TP) model transformation was adopted to transform the model to a convex polytopic model form. Hence, a linear parameter-varying (LPV) synthesis method was used to design the flight control system of CRW in the rotary mode. The simulation results show that the desired performance objectives are achieved in the rotary flight stage.