Hi Seied Mahdi Hashemi,

The Lazy Eight maneuver is a flight trajectory that requires symmetrical climbing and descending turns through 8 reference points. So, it can be viewed as a tracking problem. Feed in the Lazy Eight trajectory to the existing flight control system, and the aircraft should follow the reference trajectory.

If you have a model of the trajectory, compare the vehicle state with the trajectory to generate an error signal that can be feed into a PID controller that has access to the vehicle effectors.

While I've never modeled a Lazy Eight maneuver, I have had some success flight testing typical maneuvers on a supersonic half-scale research UAV.

Have a look at Article Modeling and Simulation of Lazy Eight Aircraft Maneuver

http://cfd4aircraft.com/Publications/cd_2006/papers/AIAA_2010-8239.pdf

https://www.eajournals.org/wp-content/uploads/Machine-Learning-Based-Approach-to-Simulate-Drone-Dynamics-Related-to-Figure-of-Eight-Maneuvering-Pattern.pdf

The Lazy Eight aircraft maneuver is researched through numerical simulation. First, a six DOF aircraft flight dynamics model is developed. To control the aircraft performing the maneuver, a basic flight control law is designed, employing classical PID controllers in both pitch and roll loop. Commands for maneuver simulation are derived from the descriptions of Lazy Eight maneuver flight procedure. By proper settings of the commands and PID controllers' gain values, Lazy Eight maneuver simulation is conducted exactly according to the maneuver descriptions.

The best simulation of the Lazy eight maneuver by Matlab Simulink

Please see this videos:

https://in.mathworks.com/videos/modeling-simulation-and-flight-control-design-of-an-aircraft-with-simulink-81546.html