Control Design Methodology
This section details a design methodology for manual flight control systems. The purpose of this methodology is to derive control laws that achieve desirable robustness and performance properties across a large range of operating conditions. The approach is based on an inner/outer loop control structure. Control redistribution or the allocation of multiple/redundant control effectors is governed by a control selector. The control selector is based on generalized inverses which normalize the control effectiveness with respect to generalized inputs. The gain scheduling problem is addressed by an inner loop compensator which is formulated to equalize the plant dynamics across the flight envelope. This inner loop compensator is a static output feedback or low order controller that is a function of flight parameters such as altitude, Mach number, and angle of attack. The outer loop controller is designed using advanced techniques to achieve performance and robustness goals. This controller should not require gain scheduling because of the equalization performed by the inner loop. These three elements, the control selector, the inner equalization loop, and the outer performance loop, provide a framework for the application of the tools of Chapter 2 to the manual flight control problem.
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