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Hence rejection of disturbances at A may be much poorer than rejection of disturbances at B. In the case that ",(G) ~ 1 and K is chosen such that ",(K) ~ 1, then ",(GK) ~ ",(KG) ~ 1, and properties at one loop breaking point will reflect those at another. 2 a procedure for selecting loop-shaping weights for the methodology of McFarlane and Glover described in chapter 2 is outlined. This procedure has been developed from experience with loop-shaping designs for the Generic VSTOL Aircraft Model (GVAM).

50 4. e. for the hover regime. All of the other linear designs for the VSTOL flight mode used in the switched and scheduled control laws developed in the next chapters use similar weighting matrices to those given here for the 6 knot design. 7, the inputs and outputs are: Inputs - AXF - horizontally resolved thrust demand - AZF - vertically resolved thrust demand - ETADA - tailplanejreaction jet demand (degrees, range -12 to 12) AXF and AZF do not have any physical units as they are derived from what is effectively a resolved throttle servo demand.

This makes designing the pre-compensator easier in that a diagonal weighting may suffice. 4. Alter the singular value roll-off rates at the desired cross-over frequency. To do this plot the transfer functions : a) from each actuator alone to all outputs, and b) from all actuators to each output alone. By examining these transfer functions select the elements of the diagonal pre- and post-compensators W p and W 2 such that the singular values of W 2 GWp have a roll-off of approximately 20dB/decade at the desired bandwidth(s).

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