Nonlinear structured H∞ controllers for parameter-dependent uncertain systems with application to aircraft landing

A new design methodology inspired by dynamic inversion techniques is proposed in this paper. It combines partially linearizing inner-loops with structured and robust outer-loops, which are designed by a non-smooth multi-model H_∞ optimization approach. The proposed methodology also includes a robustness analysis scheme providing worst-case configurations, which are then used to enrich the bank of design models and thus iteratively improve the robustness properties of the designed outer-loops. Our approach is successfully tested on a realistic nonlinear aircraft control problem subject to large parametric variations and uncertainties.