Systematic H∞ weighting function selection and its application to the real-time control of a vertical take-off aircraft

Abstract In this paper, the selection of H ∞ weighting functions for general practical applications is investigated. It is shown that an H ∞ weighting function for a single-input–single-output ( SISO ) plant can be obtained by considering a series of connections of elementary low-order plants. For a constrained control effort, an explicit weighting function expression is derived for the first time. A novel method for the selection of weighting functions in H ∞ mixed sensitivity design is proposed to control the percentage overshoot directly. An example illustrating how the transient response of a standard H ∞ design is improved by using the proposed weighting functions is provided. Finally, real-time experimental results are presented for the roll-angle control of a laboratory-scale physical model of a vertical take-off aircraft.

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