GARTEUR Open ROBUST CONTROL TECHNIQUES TUTORIAL DOCUMENT PROVISIONAL
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1 ORIGINAL: ENGLISH Febuary 14, 1996 GARTEUR Open ROBUST CONTROL TECHNIQUES TUTORIAL DOCUMENT PROVISIONAL GARTEUR aims at stimulating and co-ordinating co-operation between Research Establishments and Industry in the areas of Aerodynamics, Flight Mechanics, Helicopters, Structures & Materials and Propulsion Technology
2 @RRTguR GROUP FOR AERONAUTICAL RESEARCH AND TECHNOLOGY IN EUROPE ORIGINAL: ENGLISH Febuary 14, 1996 GARTEUR Open ROBUST CONTROL TECHNIQUES TTJTORIAL DOCUMENT PROVISIONAL This report has been prepared under auspices of the Responsables for Flight Mechanics, Systems and Integration of the Group for Aeronautical Research and Technology in EURope (GARTEUR) Group of Resp. : FM-GoR Report Resp. : I. Delgad Project Man. : J.C. Terlouwl ad// 96 L 7' Monitoring Resp. : J.T.M. van Doord Action Group : FM(AGO8) Version : 1, Draft: 3 Completed : Febuary 14, 19% GARTEUR 1996
3 daw6w Version: 1, Draft: 3 -i- Date: Febuary 14, 1996 GARTEUWTP I List of authors Chapter 1 : I. Delgadol, A. Martinez1 Chapter 2 : I. Delgado, A. Martinez Chapter 3 : J.M. de la C d Chapter 4 : J. Aranda2 Chapter 5 : I. Delgado Chapter 6 : I. Delgado Chapter 7 : I. Delgado Chapter 8 : I. Delgado Chapter 9 : J.M. de la Cruz Chapter 10 : J.M. de la Cruz Chapter 11 : A. Helmersson3 Chapter 12 : G. Griibel, H. D. Joos4 Chapter 13 : F. Amato, M. MateiS Chapter 14 : I. Delgado, A. Helmersson, S. Scala6 19 ' INTA, Crta. de Ajalvir p.k.4, Tonej6n de Ardoz, Spain m UNED, Dpto. de InformAtica y Automzltica, Ciudad Universitaria Madrid, Spain. 21 ' Linkoping University, Sweden a 4 Deutsche Forschungsanstdt fiir Luft- und Raumfahrt e.v., Germany P 5 Universita degli Studi di Napoli Federico 11, Italy 24 6 Centro Italiano Richerche Aerospaziali, Italy
4 QARTEUR Version: 1, Draft: 3 -ii- Date: Febuary 14, 1996 GARTEUWTP Summary In GARTEUR Action Group FM(AG08) a design challenge is performed in order to demonstrate how robust flight control theory can be applied to realistic problems and also to demonstrate the limitations of such techniques. For this purpose two benchmark problems have been defined: the Research Civil Aircraft Model (RCAM) and the High Incidence Research Model (HIRM). Twentytwo teams participate in the challenge, together applying the following methods: Robust Eigenvalue/Eigenstructure Assignment Non-Linear Dynamic Inversion (NLDI) Lyapunov Methods Space Parameter H, Linear Quadratic (LQ) & Associated Techniques (LQGILTR) Predictive Control Structured Singular Values. p Analysis & Synthesis Multi-CriteriaIMulti-Model Parameter Tunning Fuzzy Logic Neural Networks Robust Inverse Dynamic Estimation (RIDE) Classical control A short description of each of these techniques is given, except for the last four which may be treated in an update. The main objective of this report is to support a comparative study about applicability, advantages and drawbacks of the methods. In face of this activity, which will be performed during the Evaluation Phase of the project, each technique is treated according to the same structure with sections on the global goals of the method, the systems model description, the controller structure, the design specifications, the analysis approach, the controller synthesis approach, practical implementation aspects and the relation with other methods. Another objective is to provide the committees that will review the HIRM and RCAM design documents with information about the techniques that are being applied. Two techniques which are not applied by the design teams are treated as well: 14. Quantitative Feedback Theory 15. Kharitonov Theory Finally, some theoretical background about Lyapunov concepts, Singular Values and Linear matrix Inequalities is included.
5 QBMCLm Version: 1, Draft: 3 -iii- Date: Febuary 14, 1996 GARTEURITP I Distribution list 2 3 FM(AG08) principal persons Ahmed S (GB) Ambrosino G (IT) Bernussou F(FR) Delgado I (ES) Dormido S (ES) Duranti P (IT) Fielding C (UK) Gautrey J (UK) Helmersson A (SE) Joos H Laidlaw D (GB) Luckner Maciejowski J (UK) Magni J F (FR) Muir E (GB) Post H (NL) Postlethwaite I (UK) Pratt R (UK) Stilhl-Gunnarsson K (SE) Terlouw J C (NL) Vaart J C van der (NL) Verde L 0 a CCL UNA LAAS-CNSR INTA ' UNED ALN BAe-MAD CUN LiTH DLR AVRO DAA UCAM CERT-ONERA DRA FAC ULES LUT SMA NLR DUT CIRA 28 r, Members of the Flight Mechanics, Systems and Integration Group of Responsables Brihstrijmm B (SE) FMV-F-FL n Doom J T M van (NL) NLR 33 England P (GB) DRA (Bedford) 34 R~dloff DLR 35 Verbrugge R A (FR) ONERA-IMFL
6 Version: 1, Draft: 3 Date: Febuary 14, 1996 GARTEUR/TP Jonasson K A (SE) FFA Others Ackennann Amato F (IT) Aranda J (ES) Arzeiler D (FR) Bennani S (NL) Boer W P de (NL) Bournans L (NL) Ciglio U (lt) Cook M (UK) Cruz M de la (ES) Dam A A ten (NL) Dang Vu B (FR) D6ll (FR) Escande B (FR) Faleiro L (UK) Game G (GB) Garcia G (FR) Gennuso D (IT) Glover K (UK) Griibel G (DE) Huynh H T m) Huzrnezan M (UK) Hyde R (GB) Irving J (WK) Labarrere M (FR) Lambrechts P (NL) Lambregts A (NL) Looye G J (NL) Martfnez A (ES) Mattei M Menard P (FR) Moormann Mulder A (NL) Navarro J L (ES) DLR UNAP UNED LAAS-CNRS DUT NLR NIVR CIRA CUN UNED NLR ONERA (Salon) CERT ONERA (Salon) LUT BAe (Filton) LAAS-CNSR ALN UCAM DLR ONERA (Salon) UCAM CCL DASA CERT-ONERA NLR DUT DUT INTA UNAP AS DLR FAC INTA
7 QIRRUBR Version: 1, Draft: 3 -v- Date: Febuary 14, 1996 GARTEURITP I Papageorgiou G (UK) 2 Patel Y (UK) 3 Quesada J L (ES) 4 Rouwhorst W (NL) 5 ScalaS(IT) 6 Schram G (NL) 7 Schuring J (NL) 8 S~hurhg-c~~p~ (NL) 9 Sienel W (DE) 10 Smerlas A (UK) 11 SmithP(GB) 12 Spee J (NL) 13 Tonon A (IT) 14 Tucker M (UK) IS Valk P (NL) 16 WalkerDO 17 Weiden A van der (NL) 18 Weise UCAM DRA INTA NLR CIRA DUT NLR NLR DLR ULES DRA (Bedford) NLR ALN ULES DUT ULES DUT DAA 19 P
8 QlRTEllLKR Version: 1, Draft: 3 -vi- Date: Febuary 14, 1996 GARTEUWTP-088-7
9 afiwgm Version: 1, Draft: 3 -vii- Date: Febuary 14, 1996 GARTEuwTp Contents List of figures... viii List of symbols and abbreviations... ix Introduction... 1 Contents of Tutorial Document on Robust Control Techniques....3 Robust Eigemhmchm Assignment Technique Non Linear Dynamic Inversion Technique Lyapunov Methods mtative Feedback Theory (QFT) 36 Space Parameter Methods H,Tecbniques LQTecbiques Predictive Control Structured S i Values Multi-CriteriaMulti-Model Parameter Tuning ~haribnov Theory MathematicalAppendix
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