Trajectory Tracking of NPS II UAV using SDRE

Nonlinear dynamics of the underwater vehicles in 6-degree-of-freedom is highly nonlinear and non-affine in control. NPS II is a well-known UAV model. These codes present SDRE control of NPS II UAV in trajectory tracking case in non-affine mode where the input relations are nonlinear. The dynamics and control structure could be followed in:
Geranmehr, Behdad, and Saeed Rafee Nekoo. "Nonlinear suboptimal control of fully coupled non-affine six-DOF autonomous underwater vehicle using the state-dependent Riccati equation." Ocean Engineering 96 (2015): 248-257.