Some level of uncertainty is unavoidable in acquiring the mass, geometry
parameters and stability derivatives of an aerial vehicle. In certain instances tiny
perturbations of these could potentially cause considerable variations in flight
characteristics. This research considers the impact of varying these parameters
altogether. This is a generalization of examining the effects of particular
parameters on selected modes present in existing literature. Conventional autopilot
designs commonly assume that each flight channel is independent and develop
single-input single-output (SISO) controllers for every one, that are utilized in
parallel for actual flight. It is demonstrated that an attitude controller built like
this can function flawlessly on separate nominal cases, but can become unstable
with a perturbation no more than 2%. Two robust multi-input multi-output
(MIMO) design strategies, specifically loop-shaping and μ-synthesis are outlined as
potential substitutes and are observed to handle large parametric changes of 30%
while preserving decent performance. Duplicating the loop-shaping procedure for
the outer loop, a complete flight control system is formed. It is confirmed through
software-in-the-loop (SIL) verifications utilizing blade element theory (BET) that
the autopilot is capable of navigation and landing exposed to high parametric
variations and powerful winds.

제 1편 : SIMULINK 기본편

1.1 SIMULINK의 시작 1
블록의 연결 5
블록 파라미터의 설정 7
시뮬레이션 파라미터 (Configuration Parameters)의 설정 8
시뮬레이션의 수행 9
블록 파라미터의 표시 9
복수 데이터의 표시 11
2.2 동적 시뮬레이션 13
이차 미분방정식 17
선형 상태변수 모델 23
DC 모터의 시뮬레이션 24
함수 블록의 사용 29
차분방정식(difference equation)의 모델링 34
Subsystem(부시스템)의 구성 37

제 2편 : 연구논문
Investigation of Multi-Input Multi-Output Robust Control Methods to
Handle Parametric Uncertainties in Autopilot Design

1. Introduction 41
2. Methodology 43
3. Trimming and Linearization 46
4. Results 54
5. Loop-shaping MIMO Control Design 57
6. Conclusion 72
7. References 73