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AK(p CD CD CD CD CD i i CD CK CD CM Centered Left Horizontal CK S3 CM CM CM commanded Control Effector control structure control surface control system design control theory conventional gain scheduling design model Discrete Optimal dynamic compensator feedback control law feedback control problem Figure flaperons flight control law formulated gain matrix global cost function Halyo i i i i i i i i i incremental cost integral Langley Research Center left horizontal tail linear LU LU LU Lyapunov equation Multi-Configuration Control MCC NASA necessary conditions nonlinear null matrix objective function obtained operating condition operating point parameters optimal control problem optimal variable-gain output output feedback control output feedback problem parameter vector Reconfigured Control Law right horizontal tail roll and yaw separable form Simulation of Centered stochastic output feedback Tail and Reconfigured techniques Transfer Function variable variable-gain control law variable-gain output feedback yaw angles