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This paper considers a model-following controller with optimal disturbance attenuation. The controller design process follows a similar approach to the MDM/MDP (Multiple Delay Models/Multiple Design Points) design method, in which the controller performance is evaluated only at selected design points and optimization is performed numerically. Unlike the MDM/MDP method, however, performance is evaluated over the whole range of uncertainties, and is optimized with a method which has a convergence property. In this design process, the performance of the disturbance attenuation is defined as a quadratic cost function and the design problem is formulated with one convex and one non-convex condition, but this is not easily solvable. A design procedure that uses an iterative algorithm, which is easily solvable and has the convergence property, is presented to render the problem tractable. Next, model-following controllers for the lateral/directional motions of MuPAL-α, one of the National Aerospace Laboratory’s flight experiment aircraft are designed with the proposed method, and the results of flight experiments to verify their performances are

nihon kōkū uchū gakkai rombunshū/nihon koku uchu gakkai ronbunshu

A Model-Following Controller with Optimal Disturbance Attenuation With Application to the Lateral/Directional Motions of MuPAL-.ALPHA. and Verification by Flight Experiments