 
									
									
								  
								    
									
									
									  Path with controller
									 
									
								  
								    
									
									
									  Path without controller
									 
									
								  
								    
									
									
									  Shown are the energy expenditure and altitude for three different altitude controllers.
                    
The dashed line is the target height.
									 
									
								  
								  The dashed line is the target height.