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Minimal state-space model realisation of a nonlinear helicopter

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2 Author(s)
Clarke, T. ; Dept. of Electron., York Univ., UK ; Sun, X.-D.

The observer-Kalman filter/eigensystem realisation algorithm is applied to the problem of generating a minimal state-space model realisation from a nonlinear helicopter model. The paper presents an interim result using a 10th order linear model, discusses the implications of this and generates some general guidelines before applying the technique to a model. The outcome is a linear realisation which gives a better representation of the nonlinear model than obtained using small perturbation linearisation methods. The technique is capable of extracting unstable plant models from closed-loop stabilised systems, even when the feedback dynamics are not known

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Control Theory and Applications, IEE Proceedings -  (Volume:145 ,  Issue: 4 )