BRIAN L. STEVENS is a retired Senior Research Engineer from the Georgia Institute of Technology Research Institute, where he continues to teach classes in Guidance, Navigation, and Control.

FRANK L. LEWIS is a Distinguished Scholar Professor, Distinguished Teaching Professor, and Moncrief-O'Donnell Chair at the University of Texas at Arlington Research Institute.

ERIC N. JOHNSON is the Lockheed Martin Associate Professor of Avionics Integration, Daniel Guggenheim School of Aerospace Engineering at Georgia Institute of Technology.

Preface xi

1 The Kinematics and Dynamics of Aircraft Motion 1

1.1 Introduction 1

1.2 Vector Operations 3

1.3 Matrix Operations on Vector Coordinates 7

1.4 Rotational Kinematics 16

1.5 Translational Kinematics 20

1.6 Geodesy, Coordinate Systems, Gravity 23

1.7 Rigid-Body Dynamics 34

1.8 Advanced Topics 44

References 58

Problems 59

2 Modeling the Aircraft 63

2.1 Introduction 63

2.2 Basic Aerodynamics 64

2.3 Aircraft Forces And Moments 75

2.4 Static Analysis 101

2.5 The Nonlinear Aircraft Model 108

2.6 Linear Models And The Stability Derivatives 116

2.7 Summary 137

References 138

Problems 139

3 Modeling, Design, and Simulation Tools 142

3.1 Introduction 142

3.2 State-Space Models 144

3.3 Transfer Function Models 155

3.4 Numerical Solution of The State Equations 170

3.5 Aircraft Models For Simulation 179

3.6 Steady-State Flight 185

3.7 Numerical Linearization 199

3.8 Aircraft Dynamic Behavior 205

3.9 Feedback Control 213

3.10 Summary 241

References 241

Problems 243

4 Aircraft Dynamics and Classical Control Design 250

4.1 Introduction 250

4.2 Aircraft Rigid-Body Modes 257

4.3 The Handling-Qualities Requirements 274

4.4 Stability Augmentation 287

4.5 Control Augmentation Systems 303

4.6 Autopilots 322

4.7 Nonlinear Simulation 344

4.8 Summary 371

References 372

Problems 374

5 Modern Design Techniques 377

5.1 Introduction 377

5.2 Assignment of Closed-Loop Dynamics 381

5.3 Linear Quadratic Regulator With Output Feedback 397

5.4 Tracking A Command 413

5.5 Modifying The Performance Index 428

5.6 Model-Following Design 455

5.7 Linear Quadratic Design with Full State Feedback 470

5.8 Dynamic Inversion Design 477

5.9 Summary 492

References 492

Problems 495

6 Robustness and Multivariable Frequency-Domain Techniques 500

6.1 Introduction 500

6.2 Multivariable Frequency-Domain Analysis 502

6.3 Robust Output-Feedback Design 525

6.4 Observers and The Kalman Filter 529

6.5 Linear Quadratic Gaussian/Loop Transfer Recovery 554

6.6 Summary 577

References 578

Problems 580

7 Digital Control 584

7.1 Introduction 584

7.2 Simulation of Digital Controllers 585

7.3 Discretization of Continuous Controllers 588

7.4 Modified Continuous Design 598

7.5 Implementation Considerations 611

7.6 Summary 619

References 620

Problems 620

8 Modeling and Simulation of Miniature Aerial Vehicles 623

8.1 Introduction 623

8.2 Propeller/Rotor Forces and Moments 630

8.3 Modeling Rotor Flapping 640

8.4 Motor Modeling 645

8.5 Small Aerobatic Airplane Model 648

8.6 Quadrotor Model 654

8.7 Small Helicopter Model 655

8.8 Summary 660

References 661

Problems 661

9 Adaptive Control with Application to Miniature Aerial Vehicles 664

9.1 Introduction 664

9.2 Model Reference Adaptive Control Based On Dynamic Inversion 665

9.3 Neural Network Adaptive Control 668

9.4 Limited Authority Adaptive Control 674

9.5 Neural Network Adaptive Control Example 680

9.6 Summary 709

References 709

Problems 711

Appendix A F-16 Model 714

Appendix B Software 723

Index 733

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