Lecture 1

ADVANCED CONTROL SYSTEM DESIGN FOR AEROSPACE APPLICATIONS
Dr. Radhakant Padhi

Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science - Bangalore
Course Objective
To study concepts and techniques of linear and nonlinear control system analysis and synthesis in state space framework. It will have preferential bias towards aerospace applications, especially towards aircrafts and missiles. However, the theory as well as many demonstrative examples studied in this course will be generic.
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore 2
Topics Covered (Syllabus)

Introduction and Motivation First and Second Order Linear ODEs Laplace Transform, Transfer Function and Selected Topics from Classical Control Introduction to Basic Flight Mechanics and Flight Control Systems State Space Representation of Dynamical Systems Linearization of Nonlinear Systems

Review of Matrix Theory Applications of Numerical Methods in Systems Engineering Time Response of Dynamical Systems in State Space Form Stability, Controllability and Observability of Linear Systems Pole Placement Control Design Pole Placement Observer Design Static Optimization

Optimal Control Formulation: Variational Calculus Approach Linear Quadratic Regulator (LQR) Design Application of Linear Control Theory to Autopilot Design of Aircrafts and Missiles Gain Scheduling Philosophy Dynamic Inversion Design Stability Analysis of Nonlinear Systems Using Lyapunov Theory

Neuro-Adaptive Design for Nonlinear Systems Advanced Nonlinear Control of Aerospace Vehicles Using Dynamic Inversion and NeuroAdaptive Design Back-stepping Design An Overview of LQ Observer and Kalman Filtering Nonlinear Observer Design
References: Linear Control System

N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004. K. Ogata: Modern Control Engineering, 3rd Ed., Prentice Hall, 1999. B. Friedland: Control System Design, Mc.Graw Hill, 1986. M. Gopal: Modern Control System Theory, 2nd Ed., Wiley, 1993.
References: Nonlinear Control Systems

* H. J. Marquez: Nonlinear Control Systems Analysis and Design, Wiley, 2003. * J-J E. Slotine and W. Li: Applied Nonlinear Control, Prentice Hall, 1991. H. K. Khalil: Nonlinear Systems, Prentice Hall, 1996. A. Isidori: Nonlinear Control Systems, 3rd Ed., Springer, 1995. * Current literature
References for Other Topics

A. E. Bryson and Y-C Ho: Applied Optimal Control, Taylor and Francis, 1975. J. L. Crassidis and J. L. Junkins: Optimal Estimation of Dynamic Systems, CRC Press, 2004. W. S. Levine (Ed): The Control Handbook, CRC and IEEE Press, 1996. R. C. Nelson: Flight Stability and Automatic Control, McGraw Hill, 1989. E. Kreyszig: Advanced Engineering Mathematics, 8th Ed., Wiley, 2004.
Lecture 1
Introduction and Motivation for Advanced Control Design

Dr. Radhakant Padhi
Asst. Professor Dept. of Aerospace Engineering Indian Institute of Science - Bangalore
Concepts and Definitions

System: Any collection of interacting elements for which there are cause-andeffect relationships among the variables.
Dynamical System: A system in which the variables are time-dependent. Mathematical Model: A description of a system in terms of mathematical equations.
Concepts and Definitions

System Variables
Input variables
Control inputs: Manipulative input variables (usually

known, computed precisely) Noise inputs: Non-manipulative (usually unknown)
Output variables
Sensor outputs: Variables that are measured by sensors Performance outputs: Variables that govern the
performance of the system (Note: Sensor and performance outputs may or may not be same)
State variables: A set of variables that describe a

system completely (will be studied in detail later)
Classification of System Study

System Study
Model Development
(Includes parameter Identification)
System Analysis
Predicting the system behaviour: Can be done either by mathematical analysis or numerical simulation
System Synthesis
To force the system to behave as we would like it to
Beyond the scope of this course
We will study in this course

Simplified description of a control system
Reference command
Output
Ref: N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004

Open-loop vs. Closed-loop System

Open-loop system:
Closed-loop system:
Ref: N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004

System Classification
Analogue Lumped Parameter vs. Distributed Parameter Continuoustime vs. Discretetime Digital +
+
Time Non quantized invariant vs. Vs. Quantized Time varying
Linear Vs. Nonlinear
ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
16
Linear Systems
Linear systems are systems that obey the Principle of superposition:
Multiplying the input(s) by any constant

must multiply the outputs by .
The response to several inputs applied
simultaneously must be the sum of the individual responses to each input applied separately.
Example: Static System

Equation of a straight line y mx c is 0 "Not Necessarily Linear" unless c
y
y mx c
y
y mx
x
(Not linear) (Linear)
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Example: Dynamical System

Example - 1 (Linear System) x 2x 2x x2 2 x1 x x2 2 x1 2 x2 2 x1 x2 d x1 dt 1) x 2)
Example - 2 (Nonlinear System) x 2x 3 2x 3 x2 x1 2 x2 x x 3 2 x1 3 2sin x 2sin x x2 x1 2sin x2 x 2sin x1 2sin x2 2sin x1

19
1) x 2) d x1 dt
2 x2 3
2 x1
x2
Example - 3 (Nonlinear System) 1) x 2) d x1 dt
x2
Nonlinear and Analogous Systems

Nonlinear systems are systems that are Not Necessarily Linear Analogous Systems are systems having same mathematical form of the model.
However, their variables might have different Example: Sping-Mass-Damper and R-L-C
systems are analogous
physical meaning and their parameters might have different numerical values
20
Nonlinear vs. Linear Systems

Nonlinear Systems
More realistic Usually difficult to analyze and design Tools are under development Can have multiple equilibrium points System stability depends on Initial condition (IC) Limit cycles (self-sustained oscillations) Bifurcations (number of equilibrium points and their stability nature can vary with parameter values) Chaos (very small difference in I.C. can lead to large difference in output as time increases. Thats why predicting weather for a long time is erroneous!) Frequency and amplitude can be coupled
Linear Systems
Approximation to reality Usually simpler to analyze and design A lot of tools are well-developed. Only single equilibrium point Stability nature is independent of IC (justifies the Transfer function approach, where zero ICs are assumed) No limit cycles No bifurcation No chaos Frequency and amplitude are independent
Comparison: Classical vs. Modern Control

Classical Control (Linear)
Developed in 1920-1950 Frequency domain analysis & Design (Transfer function based) Based on SISO models Deals with input and output variables Well-developed robustness concepts (gain/phase margins) No Controllability/Observability inference No optimality concerns Well-developed concepts and very much in use in industry
Modern Control (Linear)

Developed in 1950-1980 Time domain analysis and design (Differential equation based) Based on MIMO models Deals with input, output and state variables Not well-developed robustness concepts Controllability/Observability can be inferred Optimality issues can be incorporated Fairly well-developed and slowly gaining popularity in industry
+ Linear Robust Control Design (Fairly well developed.lot of research has been done in 1980s and 1990s).
Some Lessons to Remember

Reference: D. S. Bernstein, A Students Guide to Classical Control
Feedback is pervasive Block diagrams are not circuit diagrams Determine equilibrium points and linearize if necessary Check stability: Nominal stability is an absolute necessity if necessary, guarantee nominal stability through control design Robust stability is best, but difficult to obtain After stability, performance is everything

High controller gain
Good benefits: Robust stability, Good tracking Bad effects: Control saturation, Noise amplification
26

Beware of lightly damped poles Time delays can be deadly Respect the unstable mode Nonlinearities are always present Peoples lives and/or countrys pride may be at stake!
27
Benefits of Advanced Control Theory

MIMO theory: Lesser assumptions and approximations Simultaneous disturbance rejection and command following (conflicting requirements) Robustness in presence of parameter variations, external disturbances, unmodelled dynamics etc. Fault tolerance Self-autonomy
Benefits of Advanced Control Theory

Optimality of the controller: Incorporation of optimal issues lead to a variety of advantages like minimum cost, maximum efficiency, nonconservative design etc.
Trajectory planning issues can be incorporated into the control design. State and control bounds can be incorporated in the control design process explicitly. Integrated designs can replace the traditional outer loop inner loop designs: Can lead to better performance
Why Nonlinear Control?

Improvement of existing control systems (neglected physics can be accounted for) Explicit account of hard nonlinearities and strong nonlinearities
Hard nonlinearities: Discontinuity in derivatives (saturation, dead zones, hysteresis etc.) Strong nonlinearities: Higher-order terms in Taylor series
Can directly deal with model uncertainties Can lead to design simplicity Can lead to better Cost & Performance optimality
Techniques of Nonlinear Control Systems Analysis and Design

Phase plane analysis Lyapunov theory Differential geometry (Feedback linearization) Intelligent techniques: Neural networks, Fuzzy logic, Genetic algorithm etc. Describing functions Optimization theory (variational optimization,
dynamic programming etc.)
Advanced Control Theory: Some Applications in Aerospace Engineering

Ref. C. F. Lin: Advanced Control Systems Design, Prentice Hall, 1994.
Missile Guidance and Control
Rapid and precise command response Robustness against unmodelled dynamics and/or
parameter variations Multivariable design is required due to high coupling System limitations (like tail-control and smaller fins) Disturbance rejection (wind gust, engine ignition and burnout, stage separation etc.)
Aircraft Flight Control
Stability augmentation Configuration management Maneuver enhancement Maneuver limiting Load alleviation Structural mode control Buffet alleviation (especially for twin-tail aircrafts) Flutter margin augmentation
Guidance and Control of Unmanned Air Vehicles (UAVs)
Reconnaissance Aiding to warfare capability Experimental research (for advanced technologies) Autonomous mission Meteorological data collection Search and Rescue Other interesting applications (like movie
recording)
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ADVANCED CONTROL SYSTEM DESIGN FOR AEROSPACE APPLICATIONS

Dr. Radhakant Padhi

Topics Covered (Syllabus)

Topics Covered (Syllabus)

Topics Covered (Syllabus)

Topics Covered (Syllabus)

References: Linear Control System

References: Nonlinear Control Systems

References for Other Topics

Introduction and Motivation for Advanced Control Design

Concepts and Definitions

Concepts and Definitions

Control inputs: Manipulative input variables (usually

State variables: A set of variables that describe a

Classification of System Study

Beyond the scope of this course

We will study in this course

Simplified description of a control system

Ref: N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004

Open-loop vs. Closed-loop System

Ref: N. S. Nise: Control Systems Engineering, 4th Ed., Wiley, 2004

Time Non quantized invariant vs. Vs. Quantized Time varying

Linear Vs. Nonlinear

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Multiplying the input(s) by any constant

The response to several inputs applied

Example: Static System

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Example: Dynamical System

Example - 2 (Nonlinear System) x 2x 3 2x 3 x2 x1 2 x2 x x 3 2 x1 3 2sin x 2sin x x2 x1 2sin x2 x 2sin x1 2sin x2 2sin x1

Example - 3 (Nonlinear System) 1) x 2) d x1 dt

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Nonlinear and Analogous Systems

Nonlinear vs. Linear Systems

Comparison: Classical vs. Modern Control

Modern Control (Linear)

Some Lessons to Remember

Some Lessons to Remember

High controller gain

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

Some Lessons to Remember

Benefits of Advanced Control Theory

Benefits of Advanced Control Theory

Why Nonlinear Control?

Techniques of Nonlinear Control Systems Analysis and Design

Advanced Control Theory: Some Applications in Aerospace Engineering

Missile Guidance and Control

Advanced Control Theory: Some Applications in Aerospace Engineering

Aircraft Flight Control

Advanced Control Theory: Some Applications in Aerospace Engineering

Guidance and Control of Unmanned Air Vehicles (UAVs)

ADVANCED CONTROL SYSTEM DESIGN Dr. Radhakant Padhi, AE Dept., IISc-Bangalore

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