  This paper presents a nonlinear control law for the stabilization of a
fixed-wing UAV. Such controller solves the path-following problem and the
longitudinal control problem in a single control. Furthermore, the control
design is performed considering aerodynamics and state information available in
the commercial autopilots with the aim of an ease implementation. It is
achieved that the closed-loop system is G.A.S. and robust to external
disturbances. The difference among the available controllers in the literature
is: 1) it depends on available states, hence it is not required extra sensors
or observers; and 2) it is possible to achieve any desired airplane state with
an ease of implementation, since its design is performed keeping in mind the
capability of implementation in any commercial autopilot.
