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This paper describes the design process for developing a nonlinear modelpredictive controller for fault tolerant flight control. After examining andimplementing a number of numerical techniques, this paper identifiespseudospectral discretisation as the most suitable for this design. Applyingthe controller to a 2D robot model shows that the nonlinear controller performsmuch better than the linear controller, especially in the closed loop scenario.Assuming fault detection information, applying the technique to thelongitudinal motion of a generic aircraft model shows the design to beeminently suitable for flight control.

Designing a Nonlinear Model Predictive Controller for Fault Tolerant Flight Control