List of Symbols Actuator output of closed-loop automatic feedback system Control deflection. Measured dihedral deflection [deg] Reference signal of closed-loop automatic feedback system Error signal of closed-loop automatic feedback system Controller output signal of closed-loop automatic feedback system Output system Measured output system , , Position [m] , , , Attitude quaternions Roll rate Pitch rate Yaw ratė Roll acceleratioṅ Pitch acceleratioṅ Yaw acceleration Linear acceleration in x-direction Linear acceleration in y-direction Linear acceleration in z-direction Pitch attitude angle set-point Flapping frequency [Hz] Pitch angle referencė Pitch rate reference Measured pitch anglė Measured pitch rate Rate feedback gain Attitude feedback gaiṅ Derivative of x at time t Measured aerodynamic force in x-direction [N] Measured aerodynamic force in y-direction [N] Measured aerodynamic force in z-direction [N] Measured aerodynamic moment around the x-axis [Nm] Measured aerodynamic moment around the y-axis [Nm] Measured aerodynamic moment around the z-axis [Nm] Mass [kg] Gravitational acceleration [m/s2] Velocity along the body x-axis [m/s] Velocity along the body y-axis [m/s] Velocity along the body z-axis [m/s] Acceleration along the body x-axis [m/s2] Acceleration along the body y-axis [m/s2] Acceleration along the body z-axis [m/s2] Pitch angle Trimmed pitch angle Roll angle Yaw angle Angle of attack Moments of inertia of a