... 2007a; Hall & Romano 2007b). Mechatronic Systems, Simulation, Modelling and Control1 86 Mechatronic Systems, Simulation, Modelling and Control1 82 where 1,Kdiag k k and ... Eikenberry, 2006; Romano & Hall, 2006; Hall & Romano, 2007a; Hall & Romano 2007b). Mechatronic Systems, Simulation, Modelling and Control1 84 5.2 Experiment 2 − influence of a wind gust ... Romano & Hall, 2006). Mechatronic Systems, Simulation, Modelling and Control1 96becomes 61 2 6, , , [ , , , , , ]TX Y zx x x X Y V Vx and the control vector is ...