Real-Time Fixed-Order Lateral <svg style="vertical-align:-4.50008pt;width:28.1625px;" id="M1" height="20.362499" version="1.1" viewBox="0 0 28.1625 20.362499" width="28.1625" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(1.25,0,0,-1.25,0,20.3625)"><g transform="translate(72,-55.71)"><text transform="matrix(1,0,0,-1,-71.95,60.24)"><tspan style="font-size: 17.93px; " x="0" y="0">𝐻</tspan></text><text transform="matrix(1,0,0,-1,-56.29,55.76)"><tspan style="font-size: 12.55px; " x="0" y="0">2</tspan></text></g></g></svg><svg style="vertical-align:-4.50008pt;width:0.75px;" id="M2" height="5.7249999" version="1.1" viewBox="0 0 0.75 5.7249999" width="0.75" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(1.25,0,0,-1.25,0,5.725)"><g transform="translate(72,-67.42)" /></g></svg> Controller for Micro Air Vehicle

<table>Command input, controller output and HILS responses of <svg height="12.925" id="M248" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 14.025 12.925" width="14.025" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,12.925)">
<g transform="translate(72,-61.66)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑎</tspan>
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<text transform="matrix(1,0,0,-1,-65.67,63.31)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑦</tspan>
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</svg>, <svg height="9.875" id="M249" style="vertical-align:-2.29482pt" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,9.875)">
<g transform="translate(72,-64.1)">
<text transform="matrix(1,0,0,-1,-71.95,66.44)">
<tspan style="font-size: 12.50px; " x="0" y="0">𝑝</tspan>
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</svg>, and <svg height="7.0124998" id="M250" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 6.5 7.0124998" width="6.5" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,7.0125)">
<g transform="translate(72,-66.39)">
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<tspan style="font-size: 12.50px; " x="0" y="0">𝑟</tspan>
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</svg>.</table>

Journal of Control Science and Engineering

fig12

Figure 12

Figure 12: Real-Time Fixed-Order Lateral <svg style="vertical-align:-4.50008pt;width:28.1625px;" id="M1" height="20.362499" version="1.1" viewBox="0 0 28.1625 20.362499" width="28.1625" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(1.25,0,0,-1.25,0,20.3625)"><g transform="translate(72,-55.71)"><text transform="matrix(1,0,0,-1,-71.95,60.24)"><tspan style="font-size: 17.93px; " x="0" y="0">𝐻</tspan></text><text transform="matrix(1,0,0,-1,-56.29,55.76)"><tspan style="font-size: 12.55px; " x="0" y="0">2</tspan></text></g></g></svg><svg style="vertical-align:-4.50008pt;width:0.75px;" id="M2" height="5.7249999" version="1.1" viewBox="0 0 0.75 5.7249999" width="0.75" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(1.25,0,0,-1.25,0,5.725)"><g transform="translate(72,-67.42)" /></g></svg> Controller for Micro Air Vehicle 

Journal of Control Science and Engineering

Real-Time Fixed-Order Lateral 𝐻2 Controller for Micro Air Vehicle

Figure 12

Real-Time Fixed-Order Lateral Controller for Micro Air Vehicle