Robust flight controller design that takes into account handling quality

A robust flight controller design method, which satisfies handling quality requirements, is shown. The expanded control anticipation parameter is introduced as a new handling quality criterion to treat high-order dynamics. The relations to the C* criterion and equivalent systems are shown. The proposed criterion is formulated as a linear matrix inequality, and a robust flight controller that satisfies handling-quality requirements can be designed numerically. In addition, a cost index with a time-weighting function that evaluates several time response features is introduced into controller design. An example that illustrates flight controller design of Multi-Purpose Aviation Laboratory airplane is presented, and flight testing is performed.