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Meeting	ACGS Committee Meeting 120 - Tukwila, WA - November 2017
Agenda Location	10 SUBCOMMITTEE C – Avionics and Systems Integration 10.3 Robust and Adaptive Output Feedback Control for Non-Minimum Phase Systems with Arbitrary Relative Degree
Title	Robust and Adaptive Output Feedback Control for Non-Minimum Phase Systems with Arbitrary Relative Degree
Presenter	Eugene Lavretsky
Affiliation	Boeing
Available Downloads*	presentation
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Abstract	In aerospace systems, typical measurements for flight control design include: airspeed, linear accelerations, angular rates, and aerodynamic angles, such angle of attack and angle of sideslip. All these signals are measured by a suite of sensors mounted on an aircraft. They define the vehicle body-fixed degrees-of-freedom. In flight systems, the angular rate sensors are the most reliable. They are the “backbone” of almost all flight controllers that are in operation today. In addition, aerodynamic angles play an important role in the design of flight critical systems. Towards that end, a challenging question arises: “Can an aerial vehicle be reliably controlled without knowing angular rates and aerodynamic angles?” The ideas put forward in this paper suggest that the answer is a Yes. Specifically, robust and adaptive output feedback control design methods are presented for a class of square Multi-Input-Multi-Output (MIMO) dynamical systems with matched linear and state-dependent uncertainties. The nominal (no uncertainties) system dynamics of interest are linear time-invariant, allowed to be non-minimum phase and have an arbitrary relative degree from the system control input to the regulated output. A flight control related example is presented to elucidate the key design features.