Static H ∞ loop shaping control of a fly-by-wire helicopter

This paper introduces a novel static output feedback version of the design procedure of [McFarlane & Glover, 1992. IEEE Trans. Aut. Control 37(6), 759–769]. Existence conditions for a static output loop shaping controller are given in terms of two coupled matrix inequalities. Simple linear suffi...

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Bibliographic Details
Published in:Automatica (Oxford) 2005-09, Vol.41 (9), p.1517-1528
Main Authors: Prempain, E., Postlethwaite, I.
Format: Article
Language:English
Subjects:
[formula omitted] loop shaping
Applied sciences
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Exact sciences and technology
Helicopter control
Linear matrix inequalities (LMIs)
Static output feedback
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Summary:This paper introduces a novel static output feedback version of the design procedure of [McFarlane & Glover, 1992. IEEE Trans. Aut. Control 37(6), 759–769]. Existence conditions for a static output loop shaping controller are given in terms of two coupled matrix inequalities. Simple linear sufficient conditions can be derived from these coupled nonlinear inequalities and the determination of a static, sub-optimal, H ∞ loop shaping controller reduces to an optimization problem over Linear Matrix Inequalities. The new procedure is demonstrated by its application to the design of a flight control system for the Canadian NRC fly-by-wire Bell 205 research helicopter. The resulting H ∞ controller has just three states and would appear to be the simplest flight control system used on this helicopter. The system was successfully flight-tested and high levels of performance were achieved.
ISSN:0005-1098
1873-2836
DOI:10.1016/j.automatica.2005.04.001