Control-Based Robust CAS Design for QTW-UAV via the Multiple-Model Approach with Particle Swarm Optimization

Table 3

gains in [6], using our CAS gains in Table 2, and evaluation time in equation (5) (TC is not used at T70 and T90).

Design point	gains in [6]	Optimized	(sec)
3 (T50)	2.8118	0.8216	5
4 (T30)	1.4198	1.1326	5
5 (T15)	1.0567	1.7257	5
6 (T00)	0.5230	0.2502	10
7 (clean)	0.2904	0.2031	5