T - IfB

Equations in body-frame l T l l I l Tl l b b b b b b bI T l b b b bI0 0 xx I 0 Iyy0 0 0 I zz in body frame T I Ibb x yy zz b bx y zIxxIxxT I Ibb y zzxx b by z xI yyI yyT I Ibb z xx yy b bz x yIzzIzz83Strategy n lT d fi1ii→Tb AT l→→bb b Tx() t Iyy Izzb bx( tt) x() t t t y() t z()tIxx IxxbTy() t b b Izz I xx b by( tt) y() t t t z() t x()tI yyI yy bb b Tz() t Ixx Iyyb bz( tt) z() t t t x() t y()tIzz Izz lT b ( t t) A ( tt)84