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An optimal proportional-plus-integral/tracking control law is formulated. The control law has a command augmentation system configuration suitable for implementation on a digital computer on-board an aircraft. The proposed configuration offers the flexibility for choosing a feedforward matrix incorporating a set of additional control elements and for shaping the transient response without affecting the steady-state tracking property. Assuming the system is open-loop stable, then in the presence of a "jam" the disengaged system will maintain the steady-state tracking property which is desirable for aircraft continuing their mission.