内环路控制，对于自动驾驶仪操作，这是无关飞行航道的飞机俯仰姿态和坡度的基本控制。

INNER LOOP control, For autopilot operation this is the basis control of airplane pitch and roll attitude without regard to flight path.

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然后，用本文给出的模型跟随理论设计俯仰一偏航通道自动驾驶仪，用线性二次型理论设计滚动通道自动驾驶仪。

Then the pitch-yaw channel autopilot is designed by the model following design approach given in this paper while the roll channel autopilot is designed by using linear quadratic theory.

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