PI(D) tuning for Flight Control Systems via Incremental Nonlinear Dynamic Inversion
For aerospace engineers, this provides a principled way to tune PID controllers for flight control systems by leveraging INDI, though the equivalence with TDC is known in robotics.
This paper establishes the equivalence between incremental nonlinear dynamic inversion (INDI) and time-delay control (TDC), enabling a systematic method for tuning PI(D) controllers in robust nonlinear flight control systems. The approach removes effector blending models, yielding model-free control laws.
Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) - more familiar in the aerospace community - are in fact equivalent to TDC. This leads to a meaningful and systematic method for PI(D)-control tuning of robust nonlinear flight control systems via INDI. We considered a reformulation of the plant dynamics inversion which removes effector blending models from the resulting control law, resulting in robust model-free control laws like PI(D)-control.