Chapter 5

Linear Design Models

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 1
 Equations of Motion
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ṗn = (cos ✓ cos )u + (sin sin ✓ cos cos sin )v + (cos sin ✓ cos + sin sin )w
ṗe = (cos ✓ sin )u + (sin sin ✓ sin + cos cos )v + (cos sin ✓ sin sin cos )w
ḣ = u sin ✓ v sin cos ✓ w cos cos ✓
⇢Va2 S h cq i T ( ,V )
p t a
u̇ = rv qw g sin ✓ + CX (↵) + CXq (↵) + CX e (↵) e +
2m 2Va m
⇢Va2 S h bp br i
v̇ = pw ru + g cos ✓ sin + C Y0 + C Y + C Yp + C Yr + CY a a + CY r
2m 2Va 2Va r

⇢Va2 S h cq i
ẇ = qu pv + g cos ✓ cos + CZ (↵) + CZq (↵) + CZ e (↵) e
2m 2Va
˙ = p + q sin tan ✓ + r cos tan ✓
✓˙ = q cos r sin
˙ = q sin sec ✓ + r cos sec ✓
1 2 h bp br i
ṗ = 1 pq 2 qr + ⇢Va Sb Cp0 + Cp + Cpp + Cpr + Cp a a + Cp r r + 3 Q p ( t , Va )
2 2Va 2Va
2 2 ⇢Va2 Sc h cq i
q̇ = 5 pr 6 (p r )+ C m0 + C m↵ ↵ + C mq + Cm e e
2Jy 2Va
1 2 h bp br i
ṙ = 7 pq 1 qr + ⇢Va Sb Cr0 + Cr + C rp + C rr + Cr a a + Cr r r + 4 Q p ( t , Va )
2 2Va 2Va

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 2
 Equations of Motion

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 3
 Lift and Drag Models
Nonlinear model with stall e↵ects
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⇥ 2
⇤
CL (↵) = (1 (↵)) [CL0 + CL↵ ↵] + (↵) 2 sign(↵) sin ↵ cos ↵
1 + e M (↵ ↵0 ) + eM (↵+↵0 )
(↵) =
1 + e M (↵ ↵0 ) 1 + eM (↵+↵0 )
(CL0 + CL↵ ↵)2
CD (↵) = CDp +
⇡eAR

Linear model

CL (↵) = CL0 + CL↵ ↵

CD (↵) = CD0 + CD↵ ↵

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 4
 Coordinated Turn – No Wind

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mVa ˙
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˙ about ki axis
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mg
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Flift cos = mg
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v2
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Flift sin =m
R Va ˙
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= mv! Dividing gives tan =

g
= mVa ˙ ˙ = g tan
and
Va

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 5
 Coordinated Turn

v2
Flift sin cos( )=m Flift cos = mg cos
R
= mv!
= m(Vg cos ) ˙

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 6
 Coordinated Turn
Dividing the two expressions gives
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g
˙= tan cos( )
Vg

which is the coordinated turn condition in wind

In the absence of wind, we have Va = Vg and = which gives

˙ = g tan
Va
which is the expression commonly seen in the literature

The turning radius is given by

Vg cos Vg2 cos

R= =
˙ g tan cos( )

For level flight in the absence of wind we have the standard formula

Va2
R=
g tan

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 7
 Trim Conditions

Given the nonlinear system

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ẋ = f (x, u)
The equilibria (x⇤ , u⇤ ) are defined by

f (x⇤ , u⇤ ) = 0

An aircraft in equilibrium is in a trim condition. In general, trim conditions

may include states that are not constant. Therefore, trim conditions are given
by
ẋ⇤ = f (x⇤ , u⇤ )

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 8
 Calculating Trim
Objective is to compute trim states and inputs when aircraft
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simultaneously satisfies three conditions:

• Traveling at constant speed Va⇤
⇤
• Climbing at constant flight path angle

• In constant orbit of radius R⇤

Va⇤ , ⇤
, and R⇤ , are inputs to the trim calculations

4
States: x = (pn , pe , pd , u, v, w, , ✓, , p, q, r)>
4 >
Inputs: u = ( e, t, a, r )

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 9
 Calculating Trim
For constant-climb orbit:
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! speed of aircraft not changing ! u̇⇤ = v̇ ⇤ = ẇ⇤ = 0

! roll and pitch angles constant ! ˙ ⇤ = ✓˙⇤ = ṗ⇤ = q̇ ⇤ = 0

Turn rate constant and given by

⇤
˙⇤ = V ⇤
a
cos ! ṙ⇤ = 0
R⇤
Climb rate constant, and given by

ḣ⇤ = Va⇤ sin ⇤

Given parameters Va⇤ , ⇤

, and R⇤ , can specify ẋ⇤ as

ẋ⇤ = (ṗ⇤n ṗ⇤e ḣ⇤ u̇⇤ v̇ ⇤ ẇ⇤ ˙ ⇤ ✓˙⇤ ˙ ⇤ ṗ⇤ q̇ ⇤ ṙ⇤ )>

(continued. . . )
Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 10
 Calculating Trim
Given parameters Va⇤ , ⇤
, and R⇤ , can specify ẋ⇤ as
0 1 0 1
ṗ⇤n [don’t care]
B ṗ⇤e C B[don’t care]C
B ⇤C B ⇤ C
B ḣ C B Va sin ⇤ C
B ⇤C B C
B u̇ C B 0 C
B ⇤C B C
B v̇ C B 0 C
B ⇤C B C
Bẇ C B 0 C
⇤ B C B
ẋ = B ˙ ⇤ C = B C = f (x⇤ , u⇤ )
0 C
B C B C
B ✓˙⇤ C B C
B C B V⇤ 0 C
B ˙ ⇤ C B a⇤ cos ⇤ C
B C B R C
B ṗ⇤ C B 0 C
B C B C
@ q̇ ⇤ A @ 0 A
ṙ⇤ 0

Problem of finding x⇤ and u⇤ such that ẋ⇤ = f (x⇤ , u⇤ ), reduces to solving

nonlinear algebraic systems of equations
Can use Matlab trim command – see Appendix F

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 11
 Lateral Transfer Functions - Roll
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Objective: Find simple transfer function relationship between and a

Start with: ˙ = p + q sin tan ✓ + r cos tan ✓

Assuming that ✓ is small and defining the linearization error (can be considered
4
as a control disturbance) to be d 1
= q sin tan ✓ + r cos tan ✓ gives

˙ =p+d
1

Di↵erentiating and substituting for ˙ gives

¨ = ṗ + d˙
1

1 2 bp br
= 1 pq 2 qr + ⇢Va Sb Cp0 + Cp + Cpp + Cpr + Cp a a + Cp r r + d˙ 1
2 2Va 2Va

1 2 b ˙ br
= 1 pq 2 qr + ⇢Va Sb Cp0 + Cp + Cpp ( d 1 ) + Cpr + Cp a a + Cp r + d˙ 1
2 2Va 2Va r

✓ ◆ ✓ ◆
1 2 b ˙+ 1
= ⇢Va SbCpp ⇢Va2 SbCp a a
2 2Va 2
⇢ 
1 2 b br
+ 1 pq 2 qr + ⇢Va Sb Cp0 + Cp Cpp (d 1 ) + Cpr + Cp r + d˙ 1
2 2Va 2Va r

= a ˙ +a a+d
1 2 2

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 12
 Equations of Motion

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 13
 Roll Dynamics
Linearization leads to second-order ordinary di↵erential
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equation
¨= a ˙ +a a+d
1 2 2

In transfer function form we have

✓ ◆✓ ◆
a 2 1
(s) = a (s) + d (s)
s(s + a 1 ) a 2 2

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 14
 Lateral Transfer Functions - Course
To derive transfer function from roll to course ,
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start with no-wind coordinated turn condition

g
˙= tan
Vg
g
Add and subtract Vg to get

g g
˙= + (tan )
Vg Vg
g g
= + d
Vg Vg

where d = tan is an input disturbance

The associated transfer function is
g/Vg
(s) = ( (s) + d (s))
s

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 15
 Lateral Transfer Functions - Sideslip
No-wind conditions: v = Va sin
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Constant airspeed: v̇ = (Va cos ) ˙

Substituting for v̇ from the dynamics gives

(Va cos ) ˙ = pw ru + g cos ✓ sin


⇢Va2 S bp br
+ C Y0 + C Y + C Yp + C Yr + CY a + CY r
2m 2Va 2Va a r

Solving for ˙ and grouping terms gives

˙= a +a r +d
1 2

where
⇢Va S ⇢Va S
a 1 = C Y a 2 = CY r
2m cos 2m cos

1 ⇢Va S bp br
d = (pw ru + g cos ✓ sin ) + C Y0 + C Yp + C Yr + CY a
Va cos 2m cos 2Va 2Va a

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 16
 Equations of Motion

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 17
 Sideslip Dynamics
The di↵erential equation
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˙= a +a r +d
1 2

leads to the block diagram

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⇢Va S
a 1
= CY
2m
⇢Va S
a 2= CY r
2m 
1 ⇢Va S bp br
d = (pw ru + g cos ✓ sin ) + C Y0 + C Yp + C Yr + CY a
Va 2m 2Va 2Va a

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 18
 Longitudinal Transfer Functions - Pitch
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To derive the transfer function from elevator to pitch angle

✓˙ = q cos r sin
= q + q(cos 1) r sin
4
= q + d ✓1

Di↵erentiating and substituting q̇ from the dynamics gives

2

⇢V cS cq
✓¨ = 6 (r2 p2 ) + 5 pr + a C m0 + C m↵ ↵ + C mq + Cm e e + d˙✓1
2Jy 2Va

⇢Va2 cS c ˙
= 6 (r 2 2
p ) + 5 pr + Cm0 + Cm↵ (✓ ) + Cmq (✓ d✓1 ) + Cm e e + d˙✓1
2Jy 2Va
✓ 2 ◆ ✓ 2 ◆ ✓ 2 ◆
⇢Va cS c ⇢V cS ⇢V cS
= C mq ✓˙ + a
C m↵ ✓ + a
Cm e e + 6 (r2 p2 )
2Jy 2Va 2Jy 2Jy

⇢Va2 cS c
+ 5 pr + C m0 C m↵ C mq d✓ + d˙✓1
Jy 2Va 1
= a✓ ✓˙ a✓ ✓ + a✓ e + d✓
1 2 3 2

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 19
 Equations of Motion

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 20
 Longitudinal Transfer Functions - Pitch
The di↵erential equation model is
<latexit sha1_base64="vl60f3P8tUiOSAFkkY8nP9XRI10=">AAAEpnicbVLNbtNAEHZKgGL+GjhyWREhpWob2UECLpEqceGECmraSrEJ6/U4XnV/3N01VeT66XgKHoErvADjJEqTlL14PN/MN9/8JIXg1gXBr9bOvfb9Bw93H/mPnzx99nyv8+LM6tIwGDEttLlIqAXBFYwcdwIuCgNUJgLOk8uPDX7+A4zlWp26WQGxpFPFM86oQ9ek04oipblKQTlymgNJeZaBwT9OBYGrch5GpE5BEG79aOyTKE21qyKXg6M1GfqEHNHJ8n8S1oivwUfkFhsgNrfIwZr3bZMBAi0gB0iWrsX7Uexfc5cTaq1mnDpIiTNUWdRIslKxRl0japHRs/tkSCIBmetFmaGsWi9TV/bbYKN0WFssuS4QtRg+zd3+kmUlraE+IAvSsN7k9dclY+CSAsVP9rpBP5g/ctcIl0bXW76TSWcnxPGxUuIGmMCux2FQuLiixnEmAAdSWigou6RTGAtwDkxBCzCHRFIz5Wo46AdcxdUUtARnZpsJaCoqwcbV/HBq8gY9Kck0DlPjAcy96xkVldbOZIKRkrrcbmON83/YuHTZh7jiqigdKLYolJWCOE2aK8QzM8CcmKFBmeHYHGE5xeFiQ8ik4JppKalKq6hIoR4P4mox+6hoRkFFF5ewsnFvmzkpZHCFAdahHgMC12M4VVOcYDXcDpY45rr5YBNZJbdhgzkLNEmqr/U2rLSR9ThEfc3BRDfdcLH+6KbenJaYamw0l5wdruwtLprYW6oV0ybRWGkFcZXPihyX6WrfxyMLt0/qrnE26Ifv+oMvg+5xsDy3Xe+V99rreaH33jv2Pnkn3shjrZ+t360/rb/tXvtze9Q+X4TutJY5L72N1/7+D79xkwI=</latexit>

✓¨ = a✓1 ✓˙ a ✓2 ✓ + a ✓3 e + d ✓2

with associated transfer function

✓ ◆✓ ◆
a ✓3 1
✓(s) = e (s) + d✓ (s)
s 2 + a ✓1 s + a ✓2 a ✓3 2

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 21
 Longitudinal TF - Altitude from Pitch
To derive the transfer function from pitch to altitude
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(assuming constant airspeed)

ḣ = u sin ✓ v sin cos ✓ w cos cos ✓

= Va ✓ + (u sin ✓ Va ✓) v sin cos ✓ w cos cos ✓
= Va ✓ + dh

where
4
dh = (u sin ✓ Va ✓) v sin cos ✓ w cos cos ✓

The associated transfer function is

✓ ◆
Va 1
h(s) = ✓+ dh
s Va

✓
<latexit sha1_base64="LpABsBiLXlAhFGC4jZM9bu9puJM=">AAACEXicbVDLSsNAFJ34Nr6qLt0Ei+CqJEXUjVhw47KCtYIpMpnctEMnkzhzo5SQjxBX6pd0J279Aj/EvZPWTVsPDBzOOTNz7wlSwTW67rc1N7+wuLS8smqvrW9sblW2d250kikGLZaIRN0GVIPgElrIUcBtqoDGgYB20L8o/fYjKM0TeY2DFDox7UoecUbRSG0fe4DUvq9U3Zo7gjNLvD9SPR++lnhr3ld+/DBhWQwSmaBa33luip2cKuRMQGH7mYaUsj7tQj4asnAOjBQ6UaLMkeiM1IkcjbUexIFJxhR7etorxf+8uwyj007OZZohSDb+KMqEg4lTbuyEXAFDMTCEMsXNhA7rUUUZml5sX8ITS+KYyjD3Q4jgoch9jeZtBSL3UXEqu2al/Kwoyp686VZmyU295h3X6ldutXFExlghe2SfHBKPnJAGuSRN0iKM9MkzeSPv1os1tD6sz3F0zvq7s0smYH39Agh2ou0=</latexit>

<latexit sha1_base64="Z3YFrZtsiQem+JsXOtHTyQj2R80=">AAACRXicbZDLahRBFIarEy9Je5vEZVwUBkEIDN0T1LgIBtzoLoKTBNKT5nT16Zki1dVt1WnDUNSz+B7uxZ2ufQh36lZrZgIhiT8U/PWfU5fzFa2SlpLkR7S0fOPmrdsrq/Gdu/fuP+itrR/YpjMCh6JRjTkqwKKSGockSeFRaxDqQuFhcfp6Vj/8iMbKRr+naYujGsZaVlIAhSjvvcwqA8JB7jKaIEG+7b2zJwO+xS+y1Fu+FV/sB97zOO9tJv1kLn7dpOdmc6//6O3nk2ev9vPe76xsRFejJqHA2uM0aWnkwJAUCn2cdRZbEKcwRjcfzPMnISp51ZiwNPF5eqkPamundRE6a6CJvVqbhf+rHXdU7Yyc1G1HqMXioapTnBo+o8RLaVCQmgYDwsjwQy4mEEhRYBlnGs9EU9egS5eVWOEH7zJL4W6DKkAyEvQ4jOR2vZ9xSq9SuW4OBv30eX/wLgBL2EIrbIM9Zk9Zyl6wPfaG7bMhE+wT+8K+se/R1+hn9Cv6s2hdis7PPGSXFP39B5tWtNs=</latexit>

a ✓3
s 2 + a ✓ 1 s + a ✓2

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 22
 Equations of Motion

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 23
 Longitudinal Transfer Functions - Airspeed
Both pitch angle and throttle strongly a↵ect airspeed. We wish to derive the
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relationship.
If there is no wind, then p
Va = u2 + v 2 + w 2
Di↵erentiating gives

V̇a = u̇ cos ↵ cos + v̇ sin + ẇ sin ↵ cos = u̇ cos ↵ + ẇ sin ↵ + dV1

where
d V1 = u̇(1 cos ) cos ↵ ẇ(1 cos ) sin ↵ + v̇ sin
Substituting from the dynamics gives

V̇a = rVa cos ↵ sin pVa sin ↵ sin g cos ↵ sin ✓ + g sin ↵ cos ✓ cos

⇢Va2 S cq 1
+ CD (↵) CD↵ ↵ CDq CD e e + Tp ( t , Va ) + dV1
2m 2Va m
= (rVa cos ↵ pVa sin ↵) sin g sin(✓ ↵) g sin ↵ cos ✓(1 cos )

⇢Va2 S cq 1
+ C D0 C D↵ ↵ C Dq CD e e + Tp ( t , Va ) + dV1
2m 2Va m

⇢Va2 S cq 1
= g sin + C D0 C D↵ ↵ C Dq CD e e + Tp ( t , Va ) + dV2
2m 2Va m

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 24
 Longitudinal Transfer Functions - Airspeed

⇢Va2 S
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cq 1
V˙a = g sin + C D0 C D↵ ↵ C Dq CD e + Tp ( t , Va )+dV2
2m 2Va e
m

Since this equation is nonlinear in Va , we will linearize about trim: ↵⇤ , Va⇤ , ✓⇤ ,

⇤ ⇤
e , t , and let

V̄a = Va Va⇤ , ✓¯ = ✓ ✓⇤ , ¯e = e
⇤
e,
¯t = e
⇤
t

to get
⇢
⇢Va⇤ S ⇥ ⇤ 1 @Tp ⇤ ⇤
V̄˙ a = g cos(✓ ⇤
↵ )✓¯ +
⇤
C D0 C D↵ ↵ ⇤ CD ⇤
e + ( , V ) V̄a
m e
m @Va t a
1 @Tp ⇤ ⇤ ¯
+ ( , V ) t + dV
m@ t t a
= aV1 V̄a + aV2 ¯t aV3 ✓¯ + dV

where
⇢Va⇤ S ⇥ ⇤ 1 @Tp ⇤ ⇤
aV1 = C D 0 + C D↵ ↵ ⇤ + C D ⇤
e ( ,V )
m e
m @Va t a
1 @Tp ⇤ ⇤
aV2 = ( ,V )
m@ t t a
aV3 = g cos(✓⇤ ↵⇤ )

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 25
 Longitudinal Transfer Functions - Airspeed
The associated transfer function is
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1
V̄a (s) = aV2 ¯t (s) ¯ + dV (s)
aV3 ✓(s)
s + a V1

For throttle we have Key inputs are pitch angle

aV2
and throttle command
V̄a (s) = ¯t (s) + dV (s)
s + aV1

and for pitch angle we have

aV3 ¯
V̄a (s) = ✓(s) + dV (s)
s + aV1

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 26
 Linear State-space Models
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Nonlinear state equations: ẋ = f (x, u)

Trim condition: ẋ⇤ = f (x⇤ , u⇤ )
Deviation from trim: x̄ = x x⇤

Rewriting the state equation in terms of deviation from trim gives

x̄˙ = ẋ ẋ⇤
= f (x, u) f (x⇤ , u⇤ )
= f (x + x⇤ x⇤ , u + u⇤ u⇤ ) f (x⇤ , u⇤ )
= f (x⇤ + x̄, u⇤ + ū) f (x⇤ , u⇤ )

Using a Taylor series expansion around trim to linearize gives

⇤ ⇤ @f (x⇤ , u⇤ ) @f (x⇤ , u⇤ )
x̄˙ = f (x , u ) + x̄ + ū + H.O.T f (x⇤ , u⇤ )
@x @u
@f (x⇤ , u⇤ ) @f (x⇤ , u⇤ )
⇡ x̄ + ū
@x @u
4
= Ax̄ + B ū
Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 27
 Lateral State-space Equations
The lateral states and inputs are defined as
<latexit sha1_base64="lkrOgHJ+iL82fyrLSa6sRGf2rZI=">AAAJvnicxZbfb9s2EMeVdptr7Ueb7nEvhyUrksUJbLdY9xIgaB+2xwZL0g6mI9ASZROVKJqk7AQE/7L9JXvs6/ZP7CjLdpzaRTN0GAFb59Md9eV9LB4HMuPatNt/bt27/9nnXzQeNMMvv/r6m4ePth9f6KJUMTuPi6xQbwZUs4wLdm64ydgbqRjNBxl7PXj70t9/PWFK80KcmWvJ+jkdCp7ymBp0RduNMyIKLhImDJyNGGTUMEUz0AYNDVQkwIUsDZqKQcJSfE4CVIekF5KkMPbKRZYYdmUspjoHBGPYGPYmLdlSLSJHHL8037/EqEI6CMl4XNIkLNen4TUzNKKt2lDzxJD0Qy9QFMKvlSpgOI9fhIYihbzwphcZkgEbcmFpxofiRxcCjkrpxMGTY5DTQ1XCAQxJXGhiRsxQornwQqtQPw6ApIrGlqhRAUSPlbHlZfdggp/pZdfBb852SU61dnXgAB1ov+DD3mISP15G9vcIFy1XvAczv3KgFn6f21/+EoWhQyAEnsCsXvVlvcS9G+r2b6jbIKjt1smxWDdDPQpDxaU97DiSsdTszZ4zcXZZCF8ERxQfjsz++qlqijOwlfmhOLWMu1URLMESoKwAAvmF5jmNOiDHcDj/1YWxuhO/BTp0bIQnN8CTa+D5p860PIXTSM7/yaZ1EdH9f0G242WtwwuDTWJt261BKz8dWvmRaOVd0aoKbV2/5ytkO/8JWbWBrPog2Wf/D1m1gaz6dGTVR5JVdyXrN9bZeytxhvF8r/V6Z7svelW1F696V+fQ9RzLfM3iNfkLb0iYSBY9YDpi2L2mDEZ0wqDU2MJ2q8rB8R0rt1u1xF0k71PnIahhUn370N0wjB7ttI/a1YD3jU5t7AT1eBVtb53iSuMyxz4cZ7h39zptafqWKsPjjGH3Q9GSxm/pkPXQFDRnum+r/u/gh2pFaaHwg3288t7MsDTX+jofYGROzUjfvued6+71SpP+3LfVAYCJePagtMzAFOAPE5BwxWKTXaNBY8VRK8QjigXEQwTOJNg0LvC9QRJEJsz1un1bv7/Sr4xmO/guLGys8mpOdSbwJAzqUSzDk4DiVAyxIPb4dnDV8fwFF5Ha3DmE0Lld8veNi+5R56ej9ml356Rd43gQfBd8H+wFneB5cBL8GrwKzoO48UfjXeOvxt/Nk2bazJvFLPTeVp3zbbAymlf/ALya/6s=</latexit>

4 4
ẋlat = (v, p, r, , )> ulat = ( a , r)
>

The nonlinear equations of motion are

p
⇢ u2 + v 2 + w 2 S b h i
v̇ = pw ru + g cos ✓ sin + C Y p + C Yr r
2m 2✓ p ◆
⇢(u2 + v 2 + w2 )S h 1 v i
+ CY0 + CY tan p + CY a a + CY r r
2m u2 + w 2
p
⇢ u 2 + v 2 + w 2 S b2 h i
ṗ = 1 pq 2 qr + C p p p + C p r r + 3 Q p ( t , Va )
2 2 ✓ ◆
1 h v i
2 2 2 1
+ ⇢(u + v + w )Sb Cp0 + Cp tan p + Cp a a + Cp r r
2 u2 + w 2
p
⇢ u 2 + v 2 + w 2 S b2 h i
ṙ = 7 pq 1 qr + Crp p + Crr r + 4 Qp ( t , Va )
2 2 ✓ ◆
1 h v i
2 2 2 1
+ ⇢(u + v + w )Sb Cr0 + Cr tan p + Cr a a + Cr r r
2 u2 + w 2
˙ = p + q sin tan ✓ + r cos tan ✓
˙ = q sin sec ✓ + r cos sec ✓
⇣ ⌘ p
where we have used = tan 1 p v and Va = u2 + v 2 + w 2
u2 +w2

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 28
 Jacobian Matrices
<latexit sha1_base64="pWgh/80AObcqXjIpADn3tbsW49o=">AAAGlHiclZTPjtMwEMbTJYSl/NuCxIWLRQWCy6qpEHBgpYUVEie0ILq7UlNVjuO01jqJsZ3Syso78DRc4TV4GyZtKKR1KrBUdfLNfPk545FDwZnSvd7P1t4V96p3bf96+8bNW7fvHHTunqksl4QOSMYzeRFiRTlL6UAzzemFkBQnIafn4eVJmT+fUalYln7SC0FHCZ6kLGYEa5DGHffp67EJNJ1rw7EuCvT4CAUioiauyYWZ158RlIV0wlIjEqwlmxdttDIGUabNDBwzeNmWKGyitImBmDK7rkAPglpC2HjCxhM2nmjgiSaetPGkjSdtPNnAk028ZbEFWelb1ErfAle6jb1OWfGqAa8a8KoBr5rxao0vEzSN1qNVbufNv41p/t9jGkSUazzG1llb5aR13pqMYpdR7jDKXcbfx9PgradtdrXbrmz22iGMD7q9w95yoe3Ar4KuU63Tcaf1EV5O8oSmmnCs1NDvCT0yWGpGOC3aQa6owOQST+gQwhQnVI3M8lIr0CNQIhRnEn6pRkv1b4fBiVKLJIRK2OFUbeZK0ZYb5jp+OTIsFbmmKVmB4pwjnaHyhkQRk5RovoAAE8lgr4hMscREwz3aDlL6hWRJgqE1Zf+KYX9kghjS8Fh+GeZdv/gT94ui7oloTD9DgdKwH0k5zKtkOJ1AQ8zRZnECXSvKP/iI2CSQhlPwN3u+HZz1D/3nh70Pz7rH/eo89p0HzkPnieM7L5xj551z6gwc4n51v7nf3R/efe+Vd+K9XZXutSrPPae2vPe/AJmHTDU=</latexit>

0 @ v̇ @ v̇ @ v̇ @ v̇
1
@ v̇
@v @p @r @ @
B @ ṗ @ ṗ @ ṗ @ ṗ @ ṗ C
B @v @p @r @ @ C
@flat B @ ṙ @ ṙ @ ṙ @ ṙ @ ṙ C
Alat = =B
B @v˙ @p @r @ @ C C
@xlat B@ @˙ @˙ @˙ @˙C
@ @v @p @r @ @ A
@ ˙ @ ˙ @ ˙ @ ˙ @ ˙
@v @p @r @ @
0 @ v̇ @ v̇
1
@ a @ r
B @ ṗ @ ṗ C
B@ a @ rC
@flat B @ ṙ @ ṙ C
Blat = = B@ a C
@ulat B ˙ @ rC
B@ @˙ C
@@ a @ rA
@ ˙ @ ˙
@ a @ r

Take partial derivatives and evaluate them at trim state and trim input

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 29
 <latexit sha1_base64="jTSBobSpeGiRkKxvmcKD44FxAwk=">AAAO4nicpVfJbuNGEOU420R2NPbklOTSiB0jgBdIQjDOxcAgA0xysI3JYo/HaploUi2RMDcVm1YMpk+55Rbkmh/LL+QrUmwu4iZAkQmIrq7ldVfVa7lkBI4dil7vnycb773/wYcfPf24s7n1SffZ9s7zq9CPwOSXpu/4cG2wkDu2xy+FLRx+HQBnruHwt8bdq8T+9p5DaPveL+Ih4COXTT17YptMoErf2fydDjvU4FPbiwOXCbB/lR069kVMDQZxJCWhtKSY1xWzuoIKiwtW11qZgnvjYh9y2iGkvjfB51qPyD6+5+o9w/fRlJp+mELfxpSFQqK2l0AmATcq4EYF3OQBoe0tDThXAecq4FwF9MrmHn72s3c/k0vmNuij9gPukyhbNu0HCmye29vOmxSoXLJmq9Iuqdqm/SnE2ULMelKsrWYzOgcN7KQRMR1zRzCdS9WLfClkWoubqkNWofNWbVLO4lmqXS3jFF7qfJFiphG1tOiok0MIhrdCDi1jlGtM7gkOsuQQOQxkbJqYn/ADiBzeOWPowxw83GsfXHSglFDXHivj3jv9fo/sq07u0QkwM6Zg+eRnYpD7rJEy/oa45Cpb6UzS7+zpkLzS43d6IElQ8CFVgSSQqxLPkQI/IBX0BTZ1WRimnsNOXkgF1JPFOoPGu5jdTWPBs6ZT2jvlp8Ti5MtcoeEKmevSBCrnkfEgTyOcgYizO0MGSVHmxULupdePJmUPirLPy4lUtlnUPGmI6oPM617GggLrKFoDDCpgi/q1EeOqyCbBWSReL30bIqyPCGXEs6WcvR1UWNvG2aDJ2WA5Z+t3ocnToMHTYBWeBqvzNHgMT43qibC8q5P0rERS+j1zXab3yWxFgt0OsAMyr3gZtMTWDHWwFipUUP8PbRP6D2SjDW1wq3C2Da5C2IvHEBaahIXHEBYahIVVCAurExYeTVhYj7AXTcKerEEtqBD2ooWw61wDqBD2Yk3CQjthL9YkLFQJq6YRXwjfVdOBGkXyqSJdFSNHZsKJpKNv7/aOe+ohTaGfCbta9rzRdzZe42htRi6CmQ5+2w/7vUCMYgbCNhNEGoU8YOYdm/KhwwXuGLCAwyFxGeCkczo4PrG9UTzlvssFPFQDUPSYy8NRrH5fSPIVasZk4gN+PEGUthwRMzcMH1wDPXHsssK6LVG22YaRmHw7im0viAT3zHSjSeQQ4ZPkxwoZ28BN4TygwEywMTliWgybggkhksfnpo90wkrSYIyj3WAUZz0LklIwZ7cvFzJSvRoz5hM+Q4dQ4HmAOzgng828KVYwPq07q3+qyR9MYhK7dTNgTGo1jPgnWTd7ODrKYR/P5/CJoL/t9inYUwslWa2WM/UxUcu1zcNCrmExI1xAFUhVoKHne3wUWw+Bhc0U1U0M378TCUrCvH6dZ03hanDcf3E8+HGw+/Iw4+BT7QvtS+1rra+daC+1H7Q32qVmbv67tb312dbn3XH3j+6f3b9S140nWcynWuXp/v0fNXvUXA==</latexit>

0˙1 0
Lateral State-space Equations 10 1 0 1
ū Xu Xw Xq g cos ✓⇤ 0 ū Xe Xt
Bw̄˙ C B Zu Zw Zq g sin ✓⇤ C B C B
0C Bw̄C B Z e 0 C ✓ ◆
B ˙C B C ¯e
B q̄ C = B Mu Mw Mq 0 0C B C B 0 C
B ˙C B C B q̄ C+BM e C ¯
@ ✓¯ A @ 0 0 1 0 0A @ ✓¯ A @ 0 0 A t
h̄˙ sin ✓⇤ cos ✓⇤ u cos ✓ + w⇤ sin ✓⇤
⇤ ⇤
0 0 h̄ 0 0

Lateral Formula
⇤
h i ⇤
h i ⇢SCY p
⇢Sbv ⇤ ⇤ ⇢Sv ⇤ ⇤ ⇤
Yv 4mVa⇤ C Yp p + C Yr r + m C Y0 + C Y + CY a a + CY r r + 2m u⇤2 + w⇤2
⇤ ⇢V ⇤ Sb
Yp
dimensional stabilityw derivatives
+ 4m C Yp
a
⇤
⇢V Sb
Yr u⇤ + 4m a
C Yr
⇤2
⇢Va S
Ya 2m CY a
⇢Va⇤2 S
Yr h i h 2m CY r i
⇢Sb2 v ⇤ ⇤ ⇤ ⇤ ⇤ ⇤ ⇤ ⇢SbCp p
Lv 4Va⇤ Cpp p + Cpr r + ⇢Sbv Cp0 + Cp + Cp a a + Cp r r + 2 u⇤2 + w⇤2
⇢Va⇤ Sb2
⇤
Lp 1q +4 Cpp
⇢Va⇤ Sb2
⇤
Lr 2q + 4 Cpr
⇢Va⇤2 Sb
La 2 Cp a
⇢Va⇤2 Sb
Lr h i h 2 Cp r i
⇢Sb2 v ⇤ ⇢SbCr p
Nv 4Va⇤ C r p p⇤ + C r r r ⇤ + ⇢Sbv ⇤ Cr0 + Cr ⇤ + Cr a a⇤ + Cr r
⇤
r + 2 u⇤2 + w⇤2
⇤ ⇢Va⇤ Sb2
Np 7q + 4⇤ 2Crp
⇤ ⇢Va Sb
Nr 1q + 4 C rr
⇤2
⇢Va Sb
Na 2 Cr a
⇢Va⇤2 Sb
Nr 2 Cr r

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 30
 Alternative Form - Lateral

The lateral dynamics are often expressed using instead of v. Recall that
<latexit sha1_base64="8677ReMiJb2b5JaxBWY2trhin6A=">AAAIiHiclVVdb9MwFM0GlBI+B48IyWJjQkJMaR/4eJg0AQ88oAqmbYDqUrnOTWstcTLbKauivPFreIU/w7/hxs3aNN3KcNXUvTnn+N7ra99BEgptPO/P2vqVq9ca15s33Ju3bt+5e2/j/pGOU8XhkMdhrL4MmIZQSDg0woTwJVHAokEInwfHb4v3n8egtIjlgZkk0IvYUIpAcGbQ1N9oPKIyFtIHacjBCEjIDCgWEn8iWSS4JkwBiQMDksApKmsNPkm1kEOyRQdg2BYRUhtgPqLI1nhrh5B94CwMiRkx49KuOya75KjPKJIsw6U9F5dSEMSoXSDogKlsnBe4bxll2uQI57G28NJCLMha8kLhnQgC1JBGYCTozVCMQVsxPzZZBVzI0kAxnrXy7GL9vEIc53npJGFaxxyXwKi1wR+iE8aBwElqE2jzMw0BhkJmScSMEqf5OV5QWjEmdYOqG2gyEss2fWYD6c8WI7suIXUHCI6v/THZLoP/2k9Wh0/KMSeo/yMMLcSM5hhrwDjOKKvkUMYrIisUP6DfKyphGwGJfSrLqjA7/fFKYscSO8tEzwbSmoaz6DY1TC6EVYn85PxIV1EoxQd+Zqbn6oxVnJDLidT89qr6NVc08ItUkgu8X0G5vPcrRAp3Fyp4+fjMT44t9+mZmU3VfGrPSeWfFssHxH22tACZVXlGfQgN67PV9ekuHI0zkvpHUdtd+lBZw5btnD0FdBYBnSWARypjtvt16yWzaqXR23nSSouqZQ2vwP69TW/Hs4MsT1rlZNMpx8f+xto+3lc8jfBm5iHent2Wl5hexpQRPAQUTTXgFXrMhtDFKXYZ0L3MNrKcPEmL9oJ9Ab/YkKy1yshYpPUkGiASnRzp+rvCeN67bmqCV71MyCTFTsanCwUp9qiYFF2R+EIBN+EEJ4wrgb4SPmK419gNUUnCdx5HEcPs0MSHvNvuZdNSoEkRGQs3sbnM5u2if1Q5PgRwggBsIfxYQZhRzDCTQ0xItlsHR5i1vPjBIIIswte4C616zpcnR+2d1osd71N7c88r96PpPHQeO0+dlvPS2XPeOx+dQ4c3fjR+Nn41fjfdptd82Xw9ha6vlZwHzsJovvkLGyLU8w==</latexit>

v = Va sin

Therefore
v̄ = Va⇤ cos ⇤¯ Utilizing side-slip angle
instead of lateral velocity
Di↵erentiating gives
¯˙ = 1
v̄˙
Va⇤ cos ⇤

The associated state space equations are

0 Yp Yr g cos ✓ ⇤ cos ⇤ 1
0 1 Yv Va⇤ cos ⇤ Va⇤ cos ⇤ Va⇤ cos ⇤ 0 0 1 0 1
¯˙ B L V ⇤ cos ⇤ ¯ Y a Y r
B p̄˙ C B v a Lp Lr 0 0CC Va⇤ cos ⇤ Va⇤ cos ⇤
B 0C B C B C✓ ◆
C B p̄ C B L a
B C BNv Va cos ⇤ ⇤
B r̄˙ C B Np Nr 0 Lr C ¯a
B C=B 0 1 cos ⇤ tan ✓⇤ q ⇤ cos ⇤ tan ✓⇤ C B r̄ C+B N Nr C
B ¯˙ C B CB C B a C ¯r
@ A B r⇤ sin ⇤ tan ✓⇤ 0C @ ¯A @ 0 0 A
C
¯˙ @ 0 0 cos ⇤ sec ✓⇤ p⇤ cos ⇤ sec ✓⇤ A ¯ 0 0
r⇤ sin ⇤ sec ✓⇤ 0

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 31
 Longitudinal State-space Equations
The longitudinal states and inputs are defined as
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4 4
ẋlon = (u, w, q, ✓, h)> ulon = ( e , t )>

The nonlinear equations of motion are

⇢(u2 + w2 )S h ⇣ ⌘
1 w
i
u̇ = qw g sin ✓ + CX0 + CX↵ tan + CX e e
p 2m u
⇢ u2 + w 2 S ⇢Sprop h i
2 2 2
+ CXq cq + Cprop (k t ) (u + w )
4m 2m
⇢(u2 + w2 )S h ⇣ ⌘
1 w
i
ẇ = qu + g cos ✓ + CZ0 + CZ↵ tan + CZ e e
p 2m u
⇢ u2 + w 2 S
+ CZq cq
4m
1 h ⇣ ⌘ i 1 p 2
2 2 1 w
q̇ = ⇢(u + w )cS Cm0 + Cm↵ tan + Cm e e + ⇢ u + w2 SCmq c2 q
2Jy u 4Jy
✓˙ = q
ḣ = u sin ✓ w cos ✓

1 w
p
where we have used ↵ = tan u and Va = u2 + w 2

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 32
 Jacobian Matrices
<latexit sha1_base64="H1tuV7gs7kPNYDhdeREDWPm39D4=">AAAGiHiclVRdb9MwFE1HCKN8rfCIkCwqEE9VUk0MHiaN8cLjQHSb1FSV49w01hznyyGtrLzxa3iFP8O/wWmrjjRuBZai3Jxzj8/N9ZW9hNFc2PbvzsEd86517/B+98HDR4+fHPWeXuZxkREYkZjF2bWHc2CUw0hQweA6yQBHHoMr7+ZjzV99gyynMf8qFglMIjzjNKAECwVNe+aLD1PpCpgLyWJeVej1KXITH2TQgCs5b34jlebBjHKZRFhkdF510Uro+rGQhVIUarMWWOrAVAe6IgSBdUxYIddtoKXOrtTZlTq7cqddqbVLdXapzi7V2aU77VKt3TpX47lhWsYbpuW+YfQlbOh2HaGuhFDnHuqMw52e4dKuhoD7m4Gq7c//bTiL/x5O1wcm8BS0k7fihHbMdgnLfcJ0jzDdJ7w9rB3q7YT2FuEedagRNo5getS3B/ZyoXbgrIO+sV4X017ni9qZFBFwQRjO87FjJ2IicSYoYVB13SKHBJMbPIOxCjmOIJ/I5UVWoVcK8VEQZ+rhAi3RvxUSR3m+iDyVqSoM822uBnXcuBDBu4mkPCkEcLIyCgqGRIzqWxH5NAMi2EIFmGRU1YpIiDNMhLo7uy6HksRRhFVr6uZV4+FEuoGi1Wf9Z5j1neo2HlZVU+NDAKlKyIWqJwOmji2jmM9UQ+TpdnKkulbVL/UTgYwUrU7B2e55O7gcDpy3A/vzcf9suD6PQ+O58dJ4YzjGiXFmfDIujJFBzO/mD/On+cvqWrZ1Yr1fpR501ppnRmNZ538AqKFHQw==</latexit>

0 @ u̇ @ u̇ @ u̇ @ u̇
1
@ u̇
@u @w @q @✓ @h
B @ ẇ @ ẇ @ ẇ @ ẇ @ ẇ C
B @u @w @q @✓ @h C
@flon B @ q̇ @ q̇ @ q̇ @ q̇ @ q̇ C
Alon = =B
B @u˙ @w @q @✓ @h C
C
@xlon B @✓ @✓ ˙ @ ✓˙ @ ✓˙ @ ✓˙ C
@ @u @w @q @✓ @h A
@ ḣ @ ḣ @ ḣ @ ḣ @ ḣ
@u @w @q @✓ @h
0 @ u̇ @ u̇ 1
@ e @ t
B @ ẇ @ ẇ C
@flon B@ e @ tC
B @ q̇ @ q̇ C
Blon = = B@ e @ tC
@ulon B @ ✓˙ @ ✓˙ C
@@ e @ t
A
@ ḣ @ ḣ
@ e @ t

Take partial derivatives and evaluate them at trim state and trim input

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 33
 Longitudinal State-space Equations
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0˙1 0 10 1 0 1
ū Xu Xw Xq g cos ✓⇤ 0 ū Xe Xt
Bw̄˙ C B Zu Zw Zq g sin ✓⇤ 0C Bw̄C B Z e 0 C ✓ ◆
B ˙C B CB C B C ¯e
B q̄ C = B Mu Mw Mq 0 0C B C B 0 C
B ˙C B C B q̄ C+BM e C ¯
@ ✓¯ A @ 0 0 1 0 0A @ ✓¯ A @ 0 0 A t
h̄˙ sin ✓⇤ cos ✓⇤ u cos ✓ + w⇤ sin ✓⇤
⇤ ⇤
0 0 h̄ 0 0

Longitudinal Formula
u⇤ ⇢S
⇥ ⇤ ⇤
⇤ ⇢Sw⇤ CX ⇢ScCXq u⇤ q ⇤ ⇢Sprop Cprop u⇤
Xu m C X 0
+ C X ↵
↵ + C X e e 2m
↵
+ 4mVa ⇤ m
⇤ w⇤ ⇢S
⇥ ⇤ ⇤
⇤ ⇢ScCXq w⇤ q⇤ ⇢SCX↵ u⇤ ⇢Sprop Cprop w⇤
Xw q + m CX0 + CX↵ ↵ + CX e e + 4mVa⇤ + 2m m
⇤
⇢V SC c
w⇤ + a X q
Xq 4m
⇢Va⇤2 SCX
X e 2m
e

⇢Sprop Cprop k2 t⇤
X t
dimensional stability derivatives
u⇤ ⇢S
⇥ m ⇤ ⇢SCZ w⇤ u⇤ ⇢SCZq cq ⇤
Zu q + m CZ0 + CZ↵ ↵ + CZ e e⇤
⇤ ⇤
2m
↵
+ 4mVa⇤
w⇤ ⇢S
⇥ ⇤ ⇤
⇤ ⇢SC Z u ⇤ ⇢w ⇤
ScC Zq q
⇤
Zw m C Z 0
+ C Z ↵
↵ + C Z e e
+ 2m
↵
+ 4mVa ⇤

⇤ ⇢Va⇤ SCZq c
Zq u + 4m
⇢Va⇤2 SCZ
Z e 2m
e

u⇤ ⇢Sc
⇥ ⇤ ⇤
⇤ ⇢ScCm↵ w⇤ ⇢Sc2 Cmq q ⇤ u⇤
Mu Jy C m0 + C m↵ ↵ + C m e e 2Jy + 4Jy Va⇤
⇤
w ⇢Sc
⇥ ⇤ ⇤
⇤ ⇢ScC m↵ u ⇤ ⇢Sc 2
Cmq q ⇤ w⇤
Mw Jy C m 0 + C m ↵ ↵ + C m e e
+ 2Jy + 4Jy Va⇤
⇤ 2
⇢Va Sc Cmq
Mq 4Jy
⇢Va⇤2 ScCm
M e 2Jy
e

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 34
 Alternative Form – Longitudinal
The longitudinal dynamics are often expressed using ↵ instead of w. Recall that

w = Va sin ↵ cos .

At trim, when = 0 we have

w̄ = Va⇤ cos ↵⇤ ↵
¯.
Utilizing angle of attack
Di↵erentiating gives instead of downward velocity
1
¯˙ =
↵ ˙
w̄.
Va⇤ cos ↵⇤
The associated state space equations are
0 ˙1 0 10 1 0 1
ū Xu Xw Va⇤ cos ↵⇤ Xq g cos ✓⇤ 0 ū Xe Xt
B↵¯˙ C B Zu Zq g sin ✓ ⇤ B ¯ C B ⇤Z e ⇤
B ˙ C B Va⇤ cos ↵⇤ Zw Va⇤ cos ↵⇤ Va⇤ cos ↵⇤ 0CC B↵ C B Va cos ↵ 0 C ✓ ◆
C ¯e
B q̄ C = B M Mw Va⇤ cos ↵⇤ 0C B C
C B q̄ B 0 C
B ˙C B u Mq 0 C+B M e C ¯t
@ ✓¯A @ 0 0 1 0 0A @ ✓¯A @ 0 0 A
˙h̄ sin ✓⇤ Va cos ✓⇤ cos ↵⇤
⇤
0 u cos ✓ + w⇤ sin ✓⇤
⇤ ⇤
0 h̄ 0 0

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 35
 Reduced Order Modes
Longitudinal Modes
• Short-period Mode
• Short-period mode is the fast mode seen in pitch rate q and pitch angle
• Phugoid Mode
• Phugoid mode is slow mode seen in pitch angle and u
• Induced by impulse on elevator

Lateral Modes
• Roll Mode
• First order fast mode between aileron and roll rate
• Spiral-divergence Mode
• First order (really) slow mode between aileron and yaw/course
• Dutch-roll Mode
• Second order mode: coupling between roll, yaw, and side slip. Like a
duck wagging its tail
• Induced by doublet on aileron or rudder

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 36
 Simulation Project

• Find trim states and inputs. For the aerosonde model use Va = 17 m/s,
and R = 150 m.
• Find the transfer functions derived in this chapter.
• Find the state space models derived in this chapter.

• Compute the eigenvalues of Alon and Alat and associate them with the
phugoid mode, the short period mode, the roll mode, the dutch roll mode,
and the spiral mode. Show these modes in the simulator.

Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012 Chapter 5: Slide 37