最后，利用设计的PID控制器实现纵向姿态的跟踪控制，达到直升机纵向稳定控制的目的。

Finally, we use the designed PID controller to realize the longitudinal attitude tracking control of the helicopter.

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文中通过研究无人机纵向航迹跟踪和横侧向协调转弯的控制律使得无人机可以以下确的姿态沿预定的航迹飞行。

The UAV can fly along the scheduled fight path with correct attitude by the research of the control law of portrait flight track and transverse coordinated turn.

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但小水线面双体船的纵向运动和高速情况下的垂荡运动直接影响其在海上的运动姿态，进而影响船的运动稳定性。

But in the SWATH ship longitudinal motion and the high speed situation hangs swings the movement to affect it directly in the Marine movement posture, then affects the ship the movement stability.

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