Chapter 6

Control System Design

Reference
command Output
Controller Actuator Plant

Measurement device

Figure 6.1. Block diagram of a closed-loop control system

Disturbance

Y
R K G

Noise
Figure 6.2. Block diagram of a control system including disturbance and noise

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 System/plant/process
Figure 6.3. Control system design techniques

Linear Nonlinear
¿
x =f ( x(t ),u(t ))
Modern control Classical control y=g(x(t ),u(t ))
(Space state formulation) (Transfer function)
¿
x = Ax+Bu
y=Cx +Du Output feedback State feedback
Root locus Frequency
response

Output feedback State feedback

No O, With O+D With
Yes U (LQG) O+D+U

Classical only O With O+D With

(No O, no D (LQR) (LQG) O+D+U QFT H∞ 
, no U)

Gain scheduling Robust Adaptive Dynamic

1. Pole control control inversion
placement
Neural network (H ∞ )
2. Lead-lag
3. PID O: Optimization
4…. D: Disturbance
Deterministic Stochastic
U: Uncertainty
Optimal Adaptive
(Kalman) filtering Learning
filtering system
2
 Bode Diagram
10

0
Magnitude (dB)

-10

-20

-30
45

0
Phase (deg)

-45

-90
10-1 100 101 102
Frequency (rad/s)
Figure 6.4. Bode diagram of system given in example 6.1

r (t) y (t)
u(t) ¿ x (t)
x = Ax+Bu C

Figure 6.5. State-feedback control configuration

R(s) Y(s)
K1(s) G(s)
+ +

K2(s)

Figure 6.6. Series-feedback compensation (two-degree of freedom (2DOF))

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 T
V 
E
Q 
Commanded A
Slow Fast UAV P 
trajectory R
dynamics dynamic Dynamic R 
control control model
 law law
V

Q
 P
 R

Figure 6.7. Time-scaled flight control system architecture

Elevator

Linkage Servo arm

Servomotor
Control Horn

Horizontal tail

Figure 6.8. Sketch of a servomechanism for an elevator

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No Actuator type Electric engine Hydraulic actuator
1 Power Electric Hydraulic
2 Motion Rotation Linear
3 Typical physical form

4 UAV types Quadcopter, micro UAV, Large UAV, Heavy UAV,

mini UAV, small UAV UCAV
5 Output Torque Force
6 Capability Torque range: 0.1-100 N.m Force range: 10-1,000 N
7 Overall weight Lighter Heavier
8 Medium Wire Tube/pipe
9 Signal Electricity Oil
10 Maintenance More labor-intensive Less labor-intensive
Table 6.1. Features of two types of servos

u K c Lifting
Controller
s+K Surface

Actuator and control surface

Figure 6.9. Scheme of the control surface actuator

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Altitude
(ft)
50000 Absolute ceiling

40000 Max speed

Stall limit

30000
Handling qualities must be acceptable inside
this envelope.
20000

10000
Engine temperature
limit

100 200 300 400 500 600

Speed (knot)
Figure 6.10. A typical operational flight envelope

Lateral Aileron
Reference Control u, v, w
trajectory P, q, r
Longitudinal UAV
Control Elevator Dynamics

Directional Rudder
Control

Gyroscope, altimeter, accelerometer, …

Figure 6.11. Flight control system with conventional control surfaces

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 href
Pitch Elevator h( s ) h
controller servo  E (s)
Altimeter
Figure 6.12. Block diagram of altitude control system

com  
Pitch Elevator
controller servo

Attitude gyro

Figure 6.13. Block diagram of a pitch-attitude control system

 
req
K1 K2 Elevator
servo Q
W

Rate gyro

Attitude gyro

Figure 6.14. Block diagram of bank angle control system with two feedbacks

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  =  
0 Roll Aileron
controller servo

Attitude gyro

Figure 6.15. Block diagram of bank angle control system

 
 =
K1 K2 Aileron
0 P
servo

Rate gyro

Attitude gyro

Figure 6.16. Block diagram of bank angle control system with two feedbacks

=0 R 
Yaw Rudder
controller servo

Yaw rate gyro

Figure 6.17. Block diagram of a yaw damper (control system)

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 
=0 ϕ̇ 1 g  
K K K K ϕ̇ LHD
δA s sU o
Roll rate
gyro

Bank angle gyro

Directional gyro

Localizer receiver

Figure 6.18. Block diagram of localizer hold mode

LHD: Localizer Hold Dynamics

No Loop Command variable Control surface Constraints

1 Normal acceleration nz Elevator -30o < E < +30o

command
-2 < nz < +5

2 Bank angle command  Aileron -30o < A < +30o

-2 < nz < +5

3 Turn coordinator Directional acceleration Rudder -30o < R < +30o

(ny)
ny = 0

Table 6.2. Autopilot inner loops

R ny
ny = 0
K1 R

Rudder servo

K2 Yaw rate gyro

Moment arm

Directional accelerometer

Figure 6.19. Block diagram of a turn coordinator

9
nyC
 40 R ny

s  40

K2

Figure 6.20. Resulting block diagram for the turn coordinator

nyC ny


Figure 6.21. Resulting block diagram for the turn coordinator

Figure 6.22. Root locus for the turn coordinator

10
ny

Figure 6.23. Response of the turn coordinator for a step aileron input

R(s) Y(s)
C(s) G (s)

H (s)
Figure 6.24. The control system of example 6.3

Figure 6.25. Simulink model of the closed-loop system

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 Figure 6.26. The response of the system to a unit step input

x1 y = x1
r ¿
u y = Cx
k1
x = Ax+Bu x2

k2

Figure 6.27. Quadratic optimal regulator system for a two-state model

x1 y
r ¿
u y = Cx
K2/75
x = Ax+Bu x2

K1

Figure 6.28. Quadratic optimal regulator system for a two-state model

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 0.25

0.2
Bank angle (deg)

0.15

0.1

0.05

0
0 5 10 15 20 25 30
Time (sec)
Figure 6.29. The wing bank angle response to an impulse input

Trim Cruising flight conditions PID gains UAV mass (kg) and
points Xcg/C)
1 V = 120 knot 0.1, 1.2, 0.01 1200 kg, 0.26
2 V = 120 knot 0.1, 1.4, 0.02 1100 kg, 0.23
3 V = 120 knot 0.15, 1.7, 0.015 1000 kg, 0.18
4 V = 150 knot 0.2, 0.8, 0.015 1200 kg, 0.26
5 V = 150 knot 0.2, 1.1, 0.01 1100 kg, 0.23
6 V = 150 knot 0.25, 1.4, 0.03 1000 kg, 0.18
…
Table 6.3. Schedules of gains for a long flight

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Flight condition Mass (kg) Altitude (ft) Airspeed (knot) Lp (1/s) LA ( 1/s2)
1 1,300 10,000 120 -13 75
2 1,280 10,000 120 -12.7 73
3 1,260 10,000 120 -12.3 71
4 1,240 10,000 120 -12 69
5 1,220 10,000 120 -11.7 67
6 1,200 10,000 120 -11.3 65
7 1,180 10,000 120 -11 63
8 1,160 10,000 120 -10.7 61
9 1,140 10,000 120 -10.3 59
10 1,120 10,000 120 -10 57
Table 6.4. Values of two roll derivatives at each flight condition

Flight condition UAV mass (kg) k1 k2

1 1,300 0.6134 3.1623
2 1,280 0.6272 3.1623
3 1,260 0.6466 3.1623
4 1,240 0.6619 3.1623
5 1,220 0.6780 3.1623
6 1,200 0.7006 3.1623
7 1,180 0.7186 3.1623
8 1,160 0.7374 3.1623
9 1,140 0.7641 3.1623
10 1,120 0.7854 3.1623
Table 6.5. Values two optimal gains at each flight condition

G

Figure 6.30. Closed-loop system with additive and multiplicative perturbations

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 uk u(t)
r(t) T rk y(t) T
yk
K(z) Hold G (s )

Sensor

Figure 6.31. Digital control system

Trajectory 1
Manned
Pilot
aircraft
Teaming Teaming
mission law
Trajectory 2
Autopilot UAV

Figure 6.32. Functional block diagram of a teaming flight operation

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 Leader
Mission Command
Guidance Control UAV Trajectory
Actuator
system system dynamics

Measured
variable
UAV Navigation system

Follower
Decision Trajectory
Teaming Aircraft
Pilot Engine throttle + control surfaces dynamics
law

Aircraft Navigation system + Pilot eyes

Figure 6.33. UAV-Leader, manned-aircraft-follower teaming block diagram

Leader
Trajectory
Flight mission Aircraft
Pilot Engine throttle + control surfaces dynamics

Aircraft Navigation system

Follower
Mission Trajectory
Teaming Guidance Control UAV
Actuators
law system system dynamics

UAV Navigation system

Figure 6.34. Manned-aircraft-leader, UAV-follower teaming block diagram

Teaming goal/objectives

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 Define the problem

Identify possible alternatives courses of action

Evaluate possible alternatives

Consider safety constraints Make decision Consider the effectiveness

Implement the decision

Evaluate the
consequences

Figure 6.35. Decision Making Process for pilot as the follower of an UAV

Trajectory
1
Mission Teaming Autopilot UAV
law

T/V V/T
Trajectory
Mission Teaming Manned 2
Human Pilot
law aircraft

Figure 6.36. Communication between manned and unmanned aircraft

Establish controllability requirements

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Identify UAV class, and critical flight phases for longitudinal, lateral and directional control

Determine/identify handling qualities requirements

Design/select flight sensors

Determine control laws

Design roll controller Design pitch controller Design yaw controller

No
Investigate the cross coupling between roll-pitch-yaw control

Yes

Optimization

Figure 6.37. Control system design process

No Deficiency of a dynamic system Necessary Compensator

1 Steady state error not zero Proportional-Integral (PI)
2 Large overshoot; long tr, ts; law bandwidth Proportional-Derivative (PD)
3 ess not zero; large overshoot; large rise time PID Controller
4 Slow response Lead-lag (Phase-lead)
5 Fast response Lag-lead (Phase-lag)
6 Low damping ratio (too much oscillation) Rate feedback
7 Sensitive to noise & disturbance Wash-out filter
8 Unwanted mode Zero-pole cancellation
9 A pole is not on the desired location Pole placement
10 System response is not optimum Quadratic Optimal Regulator
11 System’s dynamic model includes uncertainty Robust control
Table 6.6. Typical deficiencies of a system and the suitable compensator to compensate

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Figure 6.38. Arcturus T-20 Unmanned Aerial Vehicle

Cruise:
V = 120 knot
Time = 3 min

Climb:
V = 80 knot
 = 10 deg
Time = 20 sec

Figure 6.39. Required trajectory

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Figure 6.40. The descent and landing trajectory

20

12 V

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