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A longitudinal model is obtained using Newton\u2019s second law for the PVTOL which evolves in 3 degrees of freedom and has two control inputs. The aerial vehicle is driven by steerable propulsion controlling its evolution in the vertical plane through the thrust and torque control inputs, which drive the vehicle body and generate a rotation. The obtained model is nonlinear and is significantly different with respect to the well-known PVTOL. For this reason, different control algorithms are presented, and the closed-loop behavior is studied for each of them. The proposed control strategies perform a stationary flight at a desired altitude and control the position of the aerial vehicle. The performance of the proposed control algorithms is tested in numerical simulations.<\/jats:p>","DOI":"10.1007\/s10846-024-02066-7","type":"journal-article","created":{"date-parts":[[2024,2,15]],"date-time":"2024-02-15T13:03:17Z","timestamp":1708002197000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Control of the PVTOL with Strong Input Coupling"],"prefix":"10.1007","volume":"110","author":[{"given":"Rogelio","family":"Lozano","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jhonatan F","family":"Eulopa-Hernandez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5089-1791","authenticated-orcid":false,"given":"Sergio","family":"Salazar-Cruz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,2,15]]},"reference":[{"key":"2066_CR1","doi-asserted-by":"crossref","unstructured":"Hauser, J., Sastry, S., Meyer, G.: Nonlinear Control Design for Slightly Non-minimum Phase Systems: Application to V\/STOL Aircraft *t 28(4), 665\u2013679 (1992)","DOI":"10.1016\/0005-1098(92)90029-F"},{"issue":"4","key":"2066_CR2","doi-asserted-by":"publisher","first-page":"510","DOI":"10.1109\/TCST.2004.825052","volume":"12","author":"P Castillo","year":"2004","unstructured":"Castillo, P., Dzul, A., Lozano, R.: Real-time stabilization and tracking of a four-rotor mini rotorcraft. 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