Tracking of the flight path angle profile remains good throughout the maneuver. Note that
the variations in incidence and speed cover most of the flight envelope considered
here ([-20,20] degrees for and [700,1400] for ). And while the autopilot was tuned for
a nominal altitude of 3000 m, it fares well for altitude changing from 1,000 to 10,000 m.The nonlinear simulation results confirm that the gain-scheduled autopilot delivers
consistently high performance throughout the flight envelope. The "gain surface tuning"
procedure provides simple explicit formulas for the gain dependence on the scheduling
variables. Instead of using look-up tables, you can use these formulas directly for an more
memory-efficient hardware implementation.11 Gain-Scheduled Controllers