Dynamic inversion and model-following control

The similarities and differences of dynamic inversion control and model-following control laws are examined. For the forms of these control laws assumed in this paper it is shown that dynamic inversion may be considered a special case of model-following. For any given dynamic inversion control law there is a model-following control law that achieves exactly the same response and therefore is in every way equivalent to it. This same model-following control law may be modified in its error dynamics without changing the desired response implied by the dynamic inversion law. The modification in error dynamics may be used to improve the tracking of the desired response in the presence of modeling errors. (Author)