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This paper investigates the application of the gain-scheduling approach to flight control tasks where the conditions required by conventional techniques need not be satisfied. The conditions required by conventional techniques are progressively relaxed and the design of gain-scheduled controllers under a range of conditions is addressed. In particular, the paper considers gain-scheduled control design in situations where the vehicle is manoeuvring aggressively far from equilibrium, the airspeed need not be slowly varying and/or scheduling on the instantaneous incidence angle is required. Nomenclature o o α δ α δ ( ( ( ( ρ ρ ρ ρ ρ ρ ρ ρ ) , ) , ) , ) = ∂ ∂α = ∂ ∂δ = ∂ ∂α = ∂ ∂δ 1 1 1 1

Gain-Scheduled Control: Relaxing Slow Variation Requirements by Velocity-Based Design