Wood, R.Cazzolato, B.Halim, D.Camacho, E.2007-05-142007-05-142005Proceedings of the 44th IEEE Conference on Decision and Control and the European Control Conference CDC-ECC 2005 / E. F. Camacho (ed.): pp.7478-748307803956890743-1546http://hdl.handle.net/2440/28797© Copyright 2006 IEEENon-linear stabilisation and control of a PVTOL vehicle has received much attention in the literature for the low speed case, where aerodynamic effects can be neglected. In this paper, a non-linear control design is presented for a three degree of freedom "Hovering Rocket" with aerodynamic effects included, such that the controller remains functional at high speeds. Control design is based on a non-linear, decoupling change of coordinates presented by many authors in the past. The decoupled system is then controlled using an optimised cascade approach.enConference paper002005254910.1109/CDC.2005.15833680002406537070222-s2.0-3384718282453557Cazzolato, B. [0000-0003-2308-799X]