Design of optimal decoupling controllers Application to VTOL

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Abstract
The method of linear-quadratic optimization, known as implicit optimal model-following, is applied to the decoupling of three modes, the horizontal, vertical and pitch modes of a hovering vertical take-off and landing (VTOL) aircraft. That is. instead of the pilot having to handle directly the four actual VTOL controls (the magnitudes and angle of two main jet engines and the differential magnitude of small pitching jets) which are all coupled to all the aircraft modes, ho is to be provided with three controls which control, via feedforward and feedback controllers, the three modes in an uncoupled fashion ; this greatly alleviates his control task in precision low-speed manoeuvres. The motion of the jet-controlled VTOL in the vertical plane of symmetry is described by differential equations having four state variables and four bounded control variables. Considerable decoupling was attainable within the bounds on the controls, by means of linear feedforward and feedback controllers, of 24 gains and 16 gains, respectively. A brief review of the relevant theory is provided.

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