Stability Analysis for Incremental Nonlinear Dynamic Inversion Control

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As a sensor-based control approach, the Incremental Nonlinear Dynamic Inversion (INDI) method has been successfully applied on various aerospace systems and shown desirable robust performance to aerodynamic model uncertainties. However, its previous derivations based on the so-called time scale separation principle is not mathematically rigorous. There also
lack of stability and robustness analysis for INDI. Therefore, this paper reformulated the INDI control law without using the time scale separation principle and generalized it to not necessarily relative-degree-one problems, with consideration of the internal dynamics. Besides, the stability of the closed-loop system in the presence of external disturbances is analyzed using
Lyapunov methods and nonlinear system perturbation theory. Moreover, the robustness of the closed-loop system against regular and singular perturbations is analyzed. Finally, the reformulated INDI control law and main conclusions are verified by a rigid aircraft gust load alleviation problem.
Original languageEnglish
Title of host publicationProceedings of the 2018 AIAA Atmospheric Flight Mechanics Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc. (AIAA)
Number of pages16
ISBN (Electronic)978-1-62410-525-8
Publication statusPublished - 2018
EventAIAA Atmospheric Flight Mechanics Conference - Kissimmee, United States
Duration: 8 Jan 201812 Jan 2018


ConferenceAIAA Atmospheric Flight Mechanics Conference
Country/TerritoryUnited States
Internet address

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


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