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This paper presents a stability analysis and an application of a recently developed algorithm to recover from Pilot Induced Oscillations (CAPIO). When actuators are ratesaturated due to either an aggressive pilot command, high gain of the ight control system or some anomaly in the system, the eective delay in the control loop may increase. This eective delay increase manifests itself as a phase shift between the commanded and actual system signals and can instigate Pilot Induced Oscillations (PIO). CAPIO reduces the eective time delay by minimizing the phase shift between the commanded and the actual attitude accelerations. To establish theoretical results pertinent to CAPIO stability analysis, a scalar case is presented. In addition, we present simulation results for aircraft with cross-coupling which demonstrates the potential of CAPIO serving as an eective PIO handler in adverse conditions.

Stability Properties and Cross-Coupling Performance of the Control Allocation Scheme CAPIO