Synthesis techniques for insensitive aircraft control systems

Comparative evaluation of seven insensitive synthesis techniques applied to the control of the longitudinal axis and symmetric flexure modes of the C-5A is described. These techniques have the common goal of achieving insensitivity to parameter uncertainties and unmodeled dynamics. For this comparison the "complete" model was assumed to consist of rigid body dynamics, fifteen flexure modes, unsteady aerodynamics, gust dynamics, and first order actuators for two control inputs. Thirteen flexure modes and the unsteady aerodynamics were treated as neglected dynamics. Dynamic pressure, structural frequency and damping, and the stability derivative Mw were treated as uncertain parameters. Design specifications consisted of a transient response criterion, statistical response criteria, eigenvalue criteria and stability margins. A nominal controller designed without regard to sensitivity served as a benchmark for performance comparisons of the insensitive controllers.