id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-748	McGeoch, D. J.; McGookin, E. W.; Houston, S. S.	Sliding Mode Implementation of an Attitude Command Flight Control System for a Helicopter in Hover	2005	8	.pdf	application/pdf	5416	269	64	The switching term drives the systems when subjected to dis- turbance or commands, defined by the sliding surface, �, which is represented as [16, 17] �( ) ( )� �� � � � � � �x h x h x xT T cmd , ( This defines a state space system given by: x Ax Bu� � (1) � �x T� u v w p q r � � � , (2) � �u T� � � � �� 1 1 0s c tr , (3) where, A is the system derivative matrix, B is the control deriv- ative matrix, u (surge), v (sway) and w (heave) are the veloci- ties in the body referenced x, y, and z axes respectively, with the rotational velocities p (roll rate), q (pitch rate), and r (yaw rate), and attitudes � (roll), � (pitch) and � (yaw) about those axes.	cache/ap-748.pdf	txt/ap-748.txt