Robust <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.0pt;width:18.125px;" id="M1" height="14.7" version="1.1" viewBox="0 0 18.125 14.7" width="18.125">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.638)"><path id="x1D437" d="M780 372q0 -191 -178 -297q-128 -75 -335 -75h-250l7 27q61 7 77 22t28 76l77 398q11 62 0 76.5t-77 22.5l6 28h292q164 0 258.5 -67.5t94.5 -210.5zM678 375q0 119 -73 180.5t-201 61.5q-62 0 -82 -13q-17 -7 -25 -53l-80 -427q-8 -47 -4 -62t26 -20q24 -6 80 -6
q166 0 262.5 95t96.5 244z"></path></g>

		
	
</svg>-Stability Controller Design for a Ducted Fan Unmanned Aerial Vehicle

<table>Response curve of yaw angle before and after parameter variation.</table>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: Robust <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-0.0pt;width:18.125px;" id="M1" height="14.7" version="1.1" viewBox="0 0 18.125 14.7" width="18.125">
	
		
			<g transform="matrix(.022,-0,0,-.022,.062,14.638)"><path id="x1D437" d="M780 372q0 -191 -178 -297q-128 -75 -335 -75h-250l7 27q61 7 77 22t28 76l77 398q11 62 0 76.5t-77 22.5l6 28h292q164 0 258.5 -67.5t94.5 -210.5zM678 375q0 119 -73 180.5t-201 61.5q-62 0 -82 -13q-17 -7 -25 -53l-80 -427q-8 -47 -4 -62t26 -20q24 -6 80 -6
q166 0 262.5 95t96.5 244z"></path></g>

		
	
</svg>-Stability Controller Design for a Ducted Fan Unmanned Aerial Vehicle 

Mathematical Problems in Engineering

Robust -Stability Controller Design for a Ducted Fan Unmanned Aerial Vehicle

Figure 7