Control-Based Robust CAS Design for QTW-UAV via the Multiple-Model Approach with Particle Swarm Optimization
Figure 7
Gain plots of closed-loop sensitivity functions using CAS gains in [6], optimized gains in Table 2, and in each design points. (a) Clean, (b) T00, (c) T15, (d) T70, and (e) T90. (close-look figures at maximum peak gains are given in the boxes.)
