Integration of the inverse dynamics with a reference model technique, and its application for the improvement of the helicopter flying qualities

Synthesis of a Controller Built on the Principle of Inverse Dynamics and Identification of a Nonlinear Model of Longitudinal Motion in Offline Mode

“…This results in the problem of the feasibility of matrix G-1. To solve it, it was proposed in [9,10] to introduce a second-order link into each element of the matrix. This link equalizes the orders of the numerator and denominator.…”

Comparative Study of Different Algorithms for a Flight Control System Design and the Potentiality of Their Integration with a Sidestick

“…The control algorithms designed following the inverse dynamics method as developed in [13] are as shown in Figure 1, where Wc(s) is a linearized model of the flying vehicle that is being controlled. Inverse dynamics is used in the feedforward loop to improve tracking performance and, as such, requires a stable system [24].…”

“…The proposed algorithms bring the frequency response . y (jω) δ(jω) closer to the gain response in a wide frequency range and decouple the control axes, which is the main motivation for using inverse dynamics as given in [13].…”

“…Inverse dynamics as a linear control method has also been used in [13] to decouple the dynamics of the controlled element and achieve good tracking performance, and robustness is provided by a reference model and its inverse. This method, however, uses several loops in the control algorithm, making it difficult and expensive to implement.…”