ADVANCED CONTROL SYSTEM DESIGN

FOR AEROSPACE APPLICATIONS

Dr. Radhakant Padhi

Asst. Professor
Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore
Course Objective
z To study concepts and techniques of
linear and nonlinear control system
analysis and synthesis in state space
framework.
z It will have preferential bias towards
aerospace applications, especially
towards aircrafts and missiles.
z However, the theory as well as many
demonstrative examples studied in
this course will be generic.

ADVANCED CONTROL SYSTEM DESIGN 2

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Topics Covered (Syllabus)
z Introduction and Motivation
z First and Second Order Linear ODEs
z Laplace Transform, Transfer Function
and Selected Topics from Classical
Control
z Introduction to Basic Flight Mechanics
and Flight Control Systems
z State Space Representation of
Dynamical Systems
z Linearization of Nonlinear Systems
ADVANCED CONTROL SYSTEM DESIGN 3
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Topics Covered (Syllabus)
z Review of Matrix Theory
z Applications of Numerical Methods
in Systems Engineering
z Time Response of Dynamical
Systems in State Space Form
z Stability, Controllability and
Observability of Linear Systems
z Pole Placement Control Design
z Pole Placement Observer Design
z Static Optimization
ADVANCED CONTROL SYSTEM DESIGN 4
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Topics Covered (Syllabus)
z Optimal Control Formulation: Variational
Calculus Approach
z Linear Quadratic Regulator (LQR) Design
z Application of Linear Control Theory to
Autopilot Design of Aircrafts and Missiles
z Gain Scheduling Philosophy
z Dynamic Inversion Design
z Stability Analysis of Nonlinear Systems
Using Lyapunov Theory
ADVANCED CONTROL SYSTEM DESIGN 5
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Topics Covered (Syllabus)
z Neuro-Adaptive Design for
Nonlinear Systems
z Advanced Nonlinear Control of
Aerospace Vehicles Using
Dynamic Inversion and Neuro-
Adaptive Design
z Back-stepping Design
z An Overview of LQ Observer
and Kalman Filtering
z Nonlinear Observer Design
ADVANCED CONTROL SYSTEM DESIGN 6
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
References: Linear Control System
z N. S. Nise: Control Systems
Engineering, 4th Ed., Wiley, 2004.
z K. Ogata: Modern Control
Engineering, 3rd Ed., Prentice Hall,
1999.
z B. Friedland: Control System Design,
Mc.Graw Hill, 1986.
z M. Gopal: Modern Control System
Theory, 2nd Ed., Wiley, 1993.

ADVANCED CONTROL SYSTEM DESIGN 7

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
References: Nonlinear Control Systems
z * H. J. Marquez: Nonlinear Control
Systems Analysis and Design, Wiley,
2003.
z * J-J E. Slotine and W. Li: Applied
Nonlinear Control, Prentice Hall, 1991.
z H. K. Khalil: Nonlinear Systems,
Prentice Hall, 1996.
z A. Isidori: Nonlinear Control Systems,
3rd Ed., Springer, 1995.
z * Current literature
ADVANCED CONTROL SYSTEM DESIGN 8
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
References for Other Topics
z A. E. Bryson and Y-C Ho: Applied
Optimal Control, Taylor and Francis, 1975.
z J. L. Crassidis and J. L. Junkins:
Optimal Estimation of Dynamic Systems,
CRC Press, 2004.
z W. S. Levine (Ed): The Control
Handbook, CRC and IEEE Press, 1996.
z R. C. Nelson: Flight Stability and
Automatic Control, McGraw Hill, 1989.
z E. Kreyszig: Advanced Engineering
Mathematics, 8th Ed., Wiley, 2004.
ADVANCED CONTROL SYSTEM DESIGN 9
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 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
z System: Any collection of interacting
elements for which there are cause-and-
effect relationships among the variables.

z Dynamical System: A system in which

the variables are time-dependent.

z Mathematical Model: A description of

a system in terms of mathematical
equations.

ADVANCED CONTROL SYSTEM DESIGN 11

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Concepts and Definitions
z 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)
ADVANCED CONTROL SYSTEM DESIGN 12
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Classification of System Study

System Study

Model Development System Analysis System Synthesis

(Includes parameter Predicting the system
To force the
Identification) behaviour: Can be
system to
done either by
behave as we
mathematical
would like it to
analysis or numerical
simulation
Beyond the scope
of this course
We will study in this course
ADVANCED CONTROL SYSTEM DESIGN 13
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Simplified description of a control system

Reference command

Output

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

ADVANCED CONTROL SYSTEM DESIGN 14

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Open-loop vs. Closed-loop System
Open-loop system:

Closed-loop system:

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

ADVANCED CONTROL SYSTEM DESIGN 15

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 System Classification

Analogue

Lumped Continuous- Non Time Linear

Parameter time + quantized invariant
Vs.
vs. Vs.
vs. vs. + Nonlinear
Quantized Time
Distributed Discrete-
Parameter time varying

Digital

ADVANCED CONTROL SYSTEM DESIGN 16

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Linear Systems
z Linear systems are systems that obey the
““Principle of superposition””:
•• Multiplying the input(s) by any constant Į
must multiply the outputs by Į.
•• The response to several inputs applied
simultaneously must be the sum of the
individual responses to each input applied
separately.

ADVANCED CONTROL SYSTEM DESIGN 17

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Example: Static System
Equation of a straight line y mx  c is
"Not Necessarily Linear" unless c 0

y y
y mx  c
y mx

x x

(Not linear) (Linear)

ADVANCED CONTROL SYSTEM DESIGN 18

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Example: Dynamical System
Example - 1 (Linear System)
x 2 x
1) D x D  2 x  2 D x 
d
2)  x1  x2  x1  x2 2 x1  2 x2 2  x1  x2 
dt
Example - 2 (Nonlinear System)
x 2 x  3
1) D x D  2 x  3 z 2 D x   3
d
2)  x1  x2  x1  x2  2 x1  3   2 x2  3 z 2  x1  x2   3
dt
Example - 3 (Nonlinear System)
x 2sin x
1) D x D  2sin x  z 2sin D x 
d
2)  x1  x2  x1  x2 2sin x1  2sin x2 z 2sin  x1  x2 
dt

ADVANCED CONTROL SYSTEM DESIGN 19

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Nonlinear and Analogous Systems
z Nonlinear systems are systems that are
““Not Necessarily Linear””
z Analogous Systems are systems having
same mathematical form of the model.
•• However, their variables might have different
physical meaning and their parameters might have
different numerical values
•• Example: Sping-Mass-Damper and R-L-C
systems are analogous

ADVANCED CONTROL SYSTEM DESIGN 20

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
 Nonlinear vs. Linear Systems
Nonlinear Systems Linear Systems
¾ More realistic ¾ Approximation to reality
¾ Usually difficult to analyze and design ¾ Usually simpler to analyze and design
¾ Tools are under development ¾ A lot of tools are well-developed.
¾ Can have multiple equilibrium points ¾ Only single equilibrium point
¾ System stability depends on Initial ¾ Stability nature is independent of IC
condition (IC) (justifies the Transfer function
approach, where “zero” ICs are
¾ Limit cycles (self-sustained oscillations) assumed)
¾ Bifurcations (number of equilibrium ¾ No limit cycles
points and their stability nature can vary
with parameter values) ¾ No bifurcation
¾ Chaos (very small difference in I.C. can ¾ No chaos
lead to large difference in output as
time increases. That’s why predicting ¾ Frequency and amplitude are
weather for a long time is erroneous!) independent
¾ Frequency and amplitude can be
coupled

ADVANCED CONTROL SYSTEM DESIGN 21

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Comparison: Classical vs. Modern Control
Classical Control (Linear) Modern Control (Linear)
¾ Developed in 1920-1950 ¾ Developed in 1950-1980
¾ Frequency domain analysis & Design ¾ Time domain analysis and design
(Transfer function based) (Differential equation based)
¾ Based on SISO models ¾ Based on MIMO models
¾ Deals with input and output variables ¾ Deals with input, output and state
variables
¾ Well-developed robustness concepts
(gain/phase margins) ¾ Not well-developed robustness concepts
¾ No Controllability/Observability inference ¾ Controllability/Observability can be
inferred
¾ No optimality concerns
¾ Optimality issues can be incorporated
¾ Well-developed concepts and very much in
use in industry ¾ 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).

ADVANCED CONTROL SYSTEM DESIGN 24

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Some Lessons to Remember
Reference: D. S. Bernstein, A Student’s Guide to Classical Control

z Feedback is pervasive
z Block diagrams are not circuit diagrams
z Determine equilibrium points and linearize if
necessary
z Check stability: Nominal stability is an
absolute necessity…… if necessary, guarantee
nominal stability through control design
z Robust stability is best, but difficult to obtain
z After stability, performance is everything

ADVANCED CONTROL SYSTEM DESIGN 25

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Some Lessons to Remember
Reference: D. S. Bernstein, A Student’s Guide to Classical Control

z High controller gain

•• Good benefits: Robust stability, Good tracking
•• Bad effects: Control saturation, Noise amplification

ADVANCED CONTROL SYSTEM DESIGN 26

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Some Lessons to Remember
Reference: D. S. Bernstein, A Student’s Guide to Classical Control

z Beware of lightly damped poles

z Time delays can be deadly
z Respect the unstable mode
z Nonlinearities are always present
z Peoples lives and/or country’’s
pride may be at stake!

ADVANCED CONTROL SYSTEM DESIGN 27

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Benefits of Advanced Control
Theory
z MIMO theory: Lesser assumptions and
approximations
z Simultaneous disturbance rejection and
command following (conflicting requirements)
z Robustness in presence of parameter
variations, external disturbances,
unmodelled dynamics etc.
z Fault tolerance
z Self-autonomy
ADVANCED CONTROL SYSTEM DESIGN 28
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Benefits of Advanced Control
Theory
z Optimality of the controller: Incorporation of
optimal issues lead to a variety of advantages
like minimum cost, maximum efficiency, non-
conservative design etc.
z Trajectory planning issues can be incorporated
into the control design.
z State and control bounds can be incorporated
in the control design process explicitly.
z Integrated designs can replace the traditional
outer loop – inner loop designs: Can lead to
better performance
ADVANCED CONTROL SYSTEM DESIGN 29
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Why Nonlinear Control?
z Improvement of existing control systems
(neglected physics can be accounted for)
z 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

z Can directly deal with model uncertainties

z Can lead to “design simplicity”
z Can lead to better Cost & Performance optimality
ADVANCED CONTROL SYSTEM DESIGN 30
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Techniques of Nonlinear Control
Systems Analysis and Design
z Phase plane analysis
z Lyapunov theory
z Differential geometry (Feedback linearization)
z Intelligent techniques: Neural networks,
Fuzzy logic, Genetic algorithm etc.
z Describing functions
z Optimization theory (variational optimization,
dynamic programming etc.)

ADVANCED CONTROL SYSTEM DESIGN 31

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Advanced Control Theory:
Some Applications in Aerospace Engineering
Ref. C. F. Lin: Advanced Control Systems Design, Prentice Hall, 1994.

z 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.)

ADVANCED CONTROL SYSTEM DESIGN 32

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Advanced Control Theory:
Some Applications in Aerospace Engineering

z 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
ADVANCED CONTROL SYSTEM DESIGN 33
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
Advanced Control Theory:
Some Applications in Aerospace Engineering

z 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)

ADVANCED CONTROL SYSTEM DESIGN 34

Dr. Radhakant Padhi, AE Dept., IISc-Bangalore
ADVANCED CONTROL SYSTEM DESIGN 35
Dr. Radhakant Padhi, AE Dept., IISc-Bangalore