This version has the dynamics and methods prior to Matt's AIAA Aviation 2020 Paper. It works but may have had a small error in how the tether force was added to the vehicle dynamics.

It uses an LQR with integral action for control, and has a spring damper for tether forces. No aerodynamics are included. There may be a mistake in how the forces on the vehicle are calculated but near 0-attitude it shouldn't matter.
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