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Aircraft Altitude Autopilot Algorithm?

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Hey guys, im basically trying to look for a solution to provide a pitch input to my flight yoke between 1 and -1 which will guarantee that the aircraft levels off at the correct altitude. Im guessing that sensible parameters to determine this would be my angle of attack, pitch rate (x axis angular velocity) rate of decent and remaining altitude to target height. However pitch changes obviously arent linear as i have angular accelerations and decelerations which is hurting my head a little bit. Any ideas?

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