These Ricardo

$\newcommand{\vect}[1]{\underline{#1}} % vector \newcommand{\mat}[1]{\mathbf{#1}} % matrices \newcommand{\est}[1]{\hat{#1}} % estimate \newcommand{\err}[1]{\tilde{#1}} % error \newcommand{\esterr}[1]{\tilde{#1}} % error \newcommand{\pd}[2]{\frac{\partial{#1}}{\partial{#2}}} % partial derivatives \newcommand{\transp}[1]{#1^{T}} % transpose \newcommand{\inv}[1]{#1^{-1}} % invert \newcommand{\norm}[1]{|{#1}|} % norm \newcommand{\esp}[1]{\mathbb{E}\left[{#1}\right]} % expectation \newcommand{\espsq}[1]{\mathbb{E}\left[{#1}\transp{#1}\right]} % expectation of squared quantity (variance) \newcommand{\identity}[0]{\mathbb{I}} % identity \newcommand{\jac}[3]{\frac{\partial{#1}}{\partial{#2}}|_{#3}} % Jacobian \DeclareMathOperator{\Tr}{Tr}$

We present here a planar restriction of our VTOL model

1: Single PVTOL

1: Single PVTOL

2: Single PVTOL with point mass load

3: Dual tethered VTOL

4: Dual tethered VTOL with point mass load

5: Dual tethered VTOL with solid load