Infinite horizon LQ optimal output tracking from development to real flight tests

This paper introduces a new LQ optimal, infinite horizon output tracking solution. It publishes results from problem formulation to real flight tests. After a short literature review, it rigorously derives the problem solution and states all of the properties of this new control method. Then it introduces the lateral-directional aircraft model on which the algorithm was tuned and tested. The LQ optimal algorithm was compared by a baseline PID control solution in several simulations and real flight tests. Finally, the pros and cons are summarized and the future direction of development is mentioned.