text: 
  #---
  def plotUAVcontrolSignals(df,plt):  
      ## - Plot the Control Signals
      fig, axs = plt.subplots(2,2, sharex=True)
  
      fig.suptitle("Control Signals (Executed by the Drone)")
  
      # ---------- u_\theta
      axs[0,0].plot(df['time'], df['A.pSCU[0]'])
  
      axs[0,0].set(ylabel=r'$u_{\theta}~$ [rad]')
      axs[0,0].grid(True)
      axs[0,0].set(xlim=(min(df['time']), max(df['time'])), 
            ylim=(min(df['A.pSCU[0]'])-0.025, max(df['A.pSCU[0]'])+0.025))
  
      # ---------- u_\phi
      axs[0,1].plot(df['time'], df['U[1]'])
  
      axs[0,1].set(ylabel=r'$u_{\phi}~$ [rad]')
      axs[0,1].grid(True)
      axs[0,1].set(xlim=(min(df['time']), max(df['time'])), 
            ylim=(min(df['U[1]'])-0.025, max(df['U[1]'])+0.025))
  
      # ---------- u_{\Dot{\psi}}
      axs[1,0].plot(df['time'], df['U[2]'])
  
      axs[1,0].set(xlabel='time [$s$]', ylabel='$u_{\dot{\psi}}~$ [rad/s]')
      axs[1,0].grid(True)
      axs[1,0].set(xlim=(min(df['time']), max(df['time'])), 
            ylim=(min(df['U[2]'])-0.025, max(df['U[2]'])+0.025))
  
  
      # ---------- u_{\Dot{z}}
      axs[1,1].plot(df['time'], df['U[3]'])
  
      axs[1,1].set(xlabel='time [$s$]', ylabel='$u_{z}~$ [m/s]')
      axs[1,1].grid(True)
      axs[1,1].set(xlim=(min(df['time']), max(df['time'])), 
            ylim=(min(df['U[3]'])-0.025, max(df['U[3]'])+0.025))
  
  
      Fig = plt.gcf()
  
      plt.show()
  
      # the axes attributes need to be set before the call to subplot
      plt.rcParams.update({
          "grid.color": "0.5",
          "grid.linestyle": "--",
          "grid.linewidth": 0.25,
          "lines.linewidth": 1,
          "lines.color": "g"})
  
      plt.rcParams.update({
          "text.usetex": True,
          "font.family": "sans-serif",
          "font.sans-serif": ["Helvetica"]})
  
      # set font of all elements to size 15
      plt.rcParams['figure.figsize'] = (22,8)
      plt.rc('font', size=26)
      plt.rc('axes', titlesize=25) 
  
      plt.rc('text', usetex=True)
      plt.rc('font', family='serif')
  
      print('\n')
      plt.show()
  
      return fig
  