CONTENTS

Part I. Desi gn and i mpl ementati on of Hoo controllers

1. Introducti on 3
2. The Moti vati on for Robust Control 7
2.1 Introduction 7
2.2 Multivariable Control 8
2.2.1 Motivation 8
2.2.2 Limitations of gain and phase margins 9
2.2.3 Extension of classical design to multivariable plants . . . 9
2.3 Design in H^ 10
2.3.1 Using singular values as a robustness measure 10
2.3.2 The H^ standard plant 12
2.3.3 The S & KS design procedure 13
2.3.4 The loop-shaping/coprime factor uncertainty approach 15
2.4 The structured singular value 16
2.5 Summary 17
3. A Multivariable Desi gn Case Study 19
3.1 An introduction to VSTOL aircraft 19
3.2 The Generic VSTOL Aircraft Model (GVAM) 20
3.3 Flight control modes 21
3.4 Handling qualities 24
3.4.1 Introduction 24
3.4.2 The AGARD and MIL-specifications 24
3.4.3 The Gibson criteria 27
3.5 GVAM non-linearities 28
3.5.1 Introduction 28
3.5.2 Key parameters 28
3.5.3 Engine governor 29
3.5.4 Thrust resolution 30
3.5.5 Bank angle compensation 31
. 3.5.6 Other non-linearities 31
3.6 Uncertainty modelling 31
3.6.1 Unstructured uncertainty 31
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3.6.2 State-space uncertainty modelling 32
3.7 A specification for linear feedback design 33
3.8 Summary 35
4. Robust Desi gn Usi ng Loop-Shaping 37
4.1 Introduction 37
4.2 A loop-shaping procedure 38
4.2.1 The procedure 38
4.2.2 Ill-conditioned plants 40
4.2.3 Controller positioning in the loop 41
4.2.4 Scaling 42
4.3 Justification of the procedure 43
4.4 Freudenberg's guidelines 44
4.5 Extra measurements 46
4.5.1 An example system 46
4.5.2 Complementary filter approach 47
4.5.3 A loop-shaping approach 48
4.5.4 How the approaches compare 48
4.6 GVAM hover design example 50
4.6.1 Application of the design procedure 50
4.6.2 Reflection of HQ requirements in the procedure . . . . . . 51
4.6.3 Robust performance analysis 56
4.7 Fractional distillation column example 56
4.8 Summary 60
5. Controller Switching 63
5.1 Introduction 63
5.2 Bumpless transfer using the Hanus approach 64
5.2.1 The Hanus approach 64
5.2.2 Implementation of loop-shaping controllers 65
5.2.3 Limitations of the approach 66
5.2.4 Selecting the 'D'-matrix 67
5.2.5 Relationship to the high gain approach 68
5.3 GVAM switched controller example 69
5.3.1 The linear designs 69
5.3.2 Linear analysis 69
5.3.3 Implementation in TSIM 69
5.4 Stability analysis 72
5.4.1 A stability analysis technique for switching 72
5.4.2 Application to the GVAM Example 74
5.5 Summary 76
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6. Controller Scheduling 77
6.1 Introduction 77
6.2 Scheduling using an observer structure : 78
6.2.1 Writing loop-shaping controllers as observers 78
6.2.2 Scheduling on several parameters 81
6.2.3 Limitations of the approach 81
6.3 GVAM design examples 81
6.3.1 Scheduling on forward speed 81
6.3.2 Scheduling on speed and incidence 83
6.4 A linear analysis technique for scheduled controllers 88
6.4.1 The analysis procedure 88
6.4.2 Application to the forward speed schedule 91
6.5 Summary 93
7. Multivariable Anti-windup 95
7.1 Saturating actuators on multivariable systems 95
7.2 A framework for anti-windup analysis 96
7.3 Application of Hanus' approach '. 98
7.4 Variable loop-gain approach 99
7.5 Observer approach 99
7.6 Prioritised approach 101
7.7 Summary 102
8. Controller Compl exi ty 103
8.1 Introduction 103
8.2 Implementation using a discrete modal form 104
8.3 Complexity of the switching and scheduling approaches 105
8.4 A design study using fixed structure controllers 107
8.4.1 A Multi Objective Programming System (MOPS) 107
8.4.2 Designs using MOPS 107
8.4.3 A comparison of H^, and MOPS designs 109
8.4.4 Conclusions from the MOPS design study 118
8.5 Summary 119
Part II. A flight control law for the DRA XW175 research Harrier
9. Background 123
10. Linear Desi gn and Analysis 125
10.1 Feedback Variables 125
10.2 Hover design 129
10.3 Specifications for the linear designs 136
-10.4 Justification for using multivariable design 137
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11. Discretisation 145
11.1 Sampling at 50 Hz 145
11.2 Sampling at 25 Hz 147
12. Flight Control Modes and Command Precompensati on . . . 153
12.1 Flight Modes For 005 153
12.2 The left-hand inceptor 157
12.3 The right-hand inceptor 159
12.4 Trim-switch and pitch hold 160
13. Limiters and Non-Linear Aspects 163
13.1 Engine compensator 163
13.2 Desaturation scheme 164
13.3 Limiters 165
13.3.1 Descent rate limiter 165
13.3.2 Low throttle limit 165
13.3.3 Inverted flying protection 165
13.4 Thrust/attitude trim algorithm 166
13.5 Forward nozzle in wingborne flight 167
13.6 Hand-over logic 167
13.7 Feedforward of bank angle 168
13.8 Height-hold 168
13.9 Feedforward from nozzles to tailplane 168
13.10Performance measurement points 169
13.11Landing logic 169
13.12Implementation in Fortran and Coral 169
14. Unpi l oted Ti me Simulation 173
14.1 Control law initialisation 173
14.2 Manoeuvre testing 174
14.3 Transition testing 174
14.4 Effect of sensor noise 175
14.5 Robustness evaluation 175
15. Piloted Simulation and Flight Testing 191
15.1 Simulator results 191
15.2 Flight test results 194
16. Conclusions 199
A. List of Variables 203
B. Block Diagram 209
References ." 211
Index 215