Missile autopilot design using dynamic inversion and structured singular value synthesis

A methodology incorporating both dynamic inversion and structured singular value synthesis is employed to design a robust nonlinear autopilot for an air-to-air missile. The nonlinear components include fast and slow inversion loops which approximately linearize the system when closed in the absence of modeling errors. A feedback control law is designed for this closed-loop system in the presence of structured uncertainties. The current controller architecture differs from previous work in the choice of desired body rate dynamics used in the fast inversion. In this case, the desired dynamics correspond to the body rate dynamics at a central flight condition