A method of stabilizing a jet-powered tri-mode aircraft as the aircraft travels in a helicopter mode, a compound mode, and a fixed-wing mode is disclosed. The method includes receiving a plurality of
velocity vector component values and
velocity vector commands derived from either (1) a number of
pilot operated controllers or (2) a commanded array of waypoints, which are used for
fully automated flights, and a
rotor speed reference value, which is decreased with increasing
forward speed to unload the rotor, thereby permitting conditions for stopping the rotor in flight. Stabilization of the commanded
velocity vector is achieved in all
modes of flight using blended combinations of rotor
swashplate controls and aerodynamic controls such as elevons, canards, rudders, and a horizontal
tail. Stabilization to the commanded velocity vector includes a plurality of control constraints applied to the
pilot stick controllers that prevent penetration of envelope limits.