Regulation of non-minimum phase outputs in a PVTOL aircraft

The regulation of the nonminimum phase outputs of a planar vertical take-off and landing (PVTOL) aircraft, is approached using the differential parameterization provided by the system´s flatness property. The parametrization allows to establish an open loop relationship between the regulated outputs equilibria and the flat outputs equilibria. An indirect stabilization of the aircraft´s nonminimum phase center of gravity position coordinate outputs can then be achieved in terms of a corresponding trajectory tracking task for the differentially flat outputs, represented in this case by the coordinates of an equivalent Huygens center of oscillation. A suitable trajectory tracking task is then specified for the set of flat outputs which is solved by means of a dynamical linearizing state feedback controller