Lyapunov stability analysis of daisy chain control allocation

A demonstration that feedback control of systems with redundant controls can be reduced to feedback control of systems without redundant controls and control allocation is presented. It is shown that control allocation fan introduce unstable zero dynamics into the system, which is important if input/output inversion control techniques are utilized. The daisy chain control allocation technique for systems with redundant groups of controls is also presented. Sufficient conditions are given to ensure that the daisy chain control allocation does not introduce unstable zero dynamics into the system. Aircraft flight central examples are given to demonstrate the derived results.