“…The full nonlinear forces and moments equation for the 3DOF longitudinal dynamics is given in Eq. ( 8) to (11), which includes the axial force equation (U), normal force equation (W), pitching moment equation (q), and kinematic equation (ΞΈ ).Where Xa is axial aerodynamic force, XS is axial buoyancy force, XT is axial thrust force, Za is normal aerodynamic force, ZS is buoyancy force in normal direction along z-axis, ZT is normal thrust force, Ma is aerodynamic pitching moment along y-axis, Ms is buoyancy pitching moment due to buoyancy about CG and MT is thrust moment along y-axis or pitching moment. In linearizing the nonlinear equation of motion from Eqns.…”