I. Introduction evelopment, deployment, and operation of unmanned air vehicles (UAV) has become a rapidly growing research area within the aerospace flight control community in recent years1, 2. As the operational capabilities of UAVs progress, there is a perceived need for a significant increase in their level of autonomy, performance, and reliability. Operation safety, integration within the national airspace, and functionality at both normal and abnormal/upset conditions are critical issues that require solutions in the immediate future. Advanced autonomous systems require on-board intelligence at different levels with the ability to perform timely accommodating actions as a means to increase the safety of missions, optimize endurance, and maintain performance within hazardous operating environments. The need for increased complexity missions and high levels of autonomy requires the current and future UAV designs to become progressively sophisticated and complex3.