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The aim of the proposed nonlinear H_inf missile autopilot is to resist maximal possible disturbances and counterbalance vortex-induced yawing moments during high AOA flight. The implementation of the nonlinear H_inf missile autopilot is solved by the control surface inverse algorithm (CSIA). CSIA is an algorithm to compute the associated control surface deflections based on minimizing the global errors between the commands and actual control forces and moments. The derivations of the control law, the control surface inverse algorithm of the autopilot and satisfactory results of the heading reversal maneuver are demonstrated.