Next, IFB is incorporated into the aircraft dynamics. Various values for Q and R in the PI, Eq. (9), were investigated. The values Q = diam[l, 1, 1, 1. l]; R = diam [lO, 10] were selected on the basis of low proportional differential and integral feedback gain values and such that the eigenvalues of the closed-loop airplane are similar to those of the closed-loop model. The gain values are Typical time history results are shown in Fig. 2. These results illustrate the decoupling and the zero state error properties and the good transient behavior for this formulation of the problem.