ORIGINAL: ENGLISH

Febuary 14, 1996

GARTEUR Open

ROBUST CONTROL TECHNIQUES

TUTORIAL DOCUMENT

PROVISIONAL

GARTEUR aims at stimulating and co-ordinating

co-operation between Research Establishments and Industry
in the areas of Aerodynamics, Flight Mechanics, Helicopters,
Structures & Materials and Propulsion Technology
 @RRTguR GROUP FOR AERONAUTICAL RESEARCH AND TECHNOLOGY IN EUROPE

ORIGINAL: ENGLISH
Febuary 14, 1996

GARTEUR Open

ROBUST CONTROL TECHNIQUES

TTJTORIAL DOCUMENT

PROVISIONAL

This report has been prepared under auspices of

the Responsables for Flight Mechanics, Systems
and Integration of the Group for Aeronautical
Research and Technology in EURope (GARTEUR)

Group of Resp. : FM-GoR Action Group : FM(AGO8)

Report Resp. : I. Delgad Version : 1, Draft: 3

L
Project Man. : J.C.Terlouwl a d / /
Monitoring Resp. : J.T.M. van Doord
7'96 Completed : Febuary 14, 19%
GARTEUR 1996
 Version: 1, Draft: 3
-i- Date: Febuary 14, 1996
GARTEUWTP-088-7
dAW6W

I List of authors

Chapter 1 : I. Delgadol, A. Martinez1

Chapter 2 : I. Delgado, A. Martinez
Chapter 3 :J.M. de la C d
Chapter 4 : J. Aranda2
Chapter 5 : I. Delgado
Chapter 6 : I. Delgado
Chapter 7 : I. Delgado
Chapter 8 : I. Delgado
Chapter 9 : J.M. de la Cruz
Chapter 10 : J.M. de la Cruz
Chapter 11 : A. Helmersson3
Chapter 12 : G. Griibel, H.D. Joos4
Chapter 13 : F. Amato, M. MateiS
Chapter 14 : I. Delgado, A. Helmersson, S. Scala6

19 ' INTA, Crta. de Ajalvir p.k.4, 28850 Tonej6n de Ardoz, Spain

m UNED, Dpto. de InformAtica y Automzltica, Ciudad Universitaria 28040 Madrid, Spain

21 'Linkoping University, Sweden

..
a 4 Deutsche Forschungsanstdt fiir Luft- und Raumfahrt e.V., Germany

P 5 Universita degli Studi di Napoli Federico 11, Italy

24 6 Centro Italiano Richerche Aerospaziali, Italy

 Version: 1, Draft: 3
-ii- Date: Febuary 14, 1996
GARTEUWTP-088-7
QARTEUR

Summary

In GARTEUR Action Group FM(AG08) a design challenge is performed in order to demonstrate

how robust flight control theory can be applied to realistic problems and also to demonstrate the
limitations of such techniques. For this purpose two benchmark problems have been defined: the
Research Civil Aircraft Model (RCAM) and the High Incidence Research Model (HIRM). Twenty-
two teams participate in the challenge, together applying the following methods:

Robust Eigenvalue/Eigenstructure Assignment

Non-Linear Dynamic Inversion (NLDI)
Lyapunov Methods
Space Parameter
H,
Linear Quadratic (LQ)& Associated Techniques (LQGILTR)
Predictive Control
Structured Singular Values. p Analysis & Synthesis
Multi-CriteriaIMulti-ModelParameter Tunning
Fuzzy Logic
Neural Networks
Robust Inverse Dynamic Estimation (RIDE)
Classical control

A short description of each of these techniques is given, except for the last four which may be
treated in an update. The main objective of this report is to support a comparative study about
applicability, advantages and drawbacks of the methods. In face of this activity, which will be
performed during the Evaluation Phase of the project, each technique is treated according to the
same structure with sections on the global goals of the method, the systems model description, the
controller structure, the design specifications, the analysis approach, the controller synthesis
approach, practical implementation aspects and the relation with other methods. Another objective
is to provide the committees that will review the HIRM and RCAM design documents with
information about the techniques that are being applied.

Two techniques which are not applied by the design teams are treated as well:

14. Quantitative Feedback Theory

15. Kharitonov Theory

Finally, some theoretical background about Lyapunov concepts, Singular Values and Linear matrix
Inequalities is included.
 Version: 1, Draft: 3
-iii- Date: Febuary 14, 1996
GARTEURITP-088-7
QBMCLm

I Distribution list
2

3 FM(AG08) principal persons

Ahmed S (GB) CCL

Ambrosino G (IT) UNA
Bernussou F(FR) a LAAS-CNSR
Delgado I (ES) INTA '

Dormido S (ES) UNED

Duranti P (IT) ALN
Fielding C (UK) BAe-MAD
Gautrey J (UK) CUN
Helmersson A (SE) LiTH
Joos H D @E) DLR
Laidlaw D (GB) AVRO
Luckner R @E) DAA
Maciejowski J (UK) UCAM
Magni J F (FR) CERT-ONERA
Muir E (GB) DRA
Post H (NL) FAC
Postlethwaite I (UK) ULES
Pratt R (UK) LUT
Stilhl-Gunnarsson K (SE) SMA
Terlouw J C (NL) NLR
Vaart J C van der (NL) DUT
Verde L 0 CIRA

28

r, Members of the Flight Mechanics, Systems and Integration Group of Responsables

30

31 Brihstrijmm B (SE) FMV-F-FL

n Doom J T M van (NL) NLR
33 England P (GB) DRA (Bedford)
34 R~dloffR @E) DLR
35 Verbrugge R A (FR) ONERA-IMFL
 Version: 1, Draft: 3
Date: Febuary 14, 1996
GARTEUR/TP-088-7

Jonasson K A (SE) FFA

Others

Ackennann J @E) DLR

Amato F (IT) UNAP
Aranda J (ES) UNED
Arzeiler D (FR) LAAS-CNRS
Bennani S (NL) DUT
Boer W P de (NL) NLR
Bournans L (NL) NIVR
C i g l i o U (lT) CIRA
Cook M (UK) CUN
Cruz M de la (ES) UNED
Dam A A ten (NL) NLR
Dang Vu B (FR) ONERA (Salon)
D6ll (FR) CERT
Escande B (FR) ONERA (Salon)
Faleiro L (UK) LUT
Game G (GB) BAe (Filton)
Garcia G (FR) LAAS-CNSR
Gennuso D (IT) ALN
Glover K (UK) UCAM
Griibel G (DE) DLR
Huynh H T m) ONERA (Salon)
Huzrnezan M (UK) UCAM
Hyde R (GB) CCL
Irving J (WK) DASA
Labarrere M (FR) CERT-ONERA
Lambrechts P (NL) NLR
Lambregts A (NL) DUT
Looye G J (NL) DUT
Martfnez A (ES) INTA
Mattei M UNAP
Menard P (FR) AS
Moormann D @E) DLR
Mulder A (NL) FAC
Navarro J L (ES) INTA
 Version: 1, Draft: 3
-v- Date: Febuary 14, 1996
GARTEURITP-088-7
QIRRUBR

I Papageorgiou G (UK) UCAM

2 Patel Y (UK) DRA
3 Quesada J L (ES) INTA
4 Rouwhorst W (NL) NLR
5 ScalaS(IT) CIRA
6 Schram G (NL) DUT
7 Schuring J (NL) NLR
8 S ~ h u r h g - c ~(NL)
~p~ NLR
9 Sienel W (DE) DLR
10 Smerlas A (UK) ULES
11 SmithP(GB) DRA (Bedford)
12 Spee J (NL) NLR
13 Tonon A (IT) ALN
14 Tucker M (UK) ULES
IS Valk P (NL) DUT
16 WalkerDO ULES
17 Weiden A van der (NL) DUT
18 Weise K @E) DAA
19

P
 Version: 1, Draft: 3
-vi- Date: Febuary 14, 1996
GARTEUWTP-088-7
QlRTEllLKR
 Version: 1, Draft: 3
-vii- Date: Febuary 14, 1996
GARTEuwTp-088-7
afiwgm

Contents

List of figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

List of symbols and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix

Introduction ............................................... 1

Contents of Tutorial Document on Robust Control Techniques . . . . . . . . . . . . . . .3

Robust Eigemhmchm Assignment Technique . . . . . . . . . . . . . . . . . . . . . . . . . 7

Non Linear Dynamic Inversion Technique . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Lyapunov Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

m t a t i v e Feedback Theory (QFT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Space Parameter Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

H,Tecbniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

9 LQTecbiques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

10 Predictive Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

11 Structured S i Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

12 Multi-CriteriaMulti-ModelParameter Tuning . . . . . . . . . . . . . . . . . . . . . . . 102

13 ~ h a r i b n o vTheory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

14 MathematicalAppendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119