Experimental Implementation of a Nonlinear Dynamic Inversion Controller with Antiwindup

Prathyush P Menon, Mark H Lowenberg, Guido Herrmann, Matthew C Turner, Declan G Bates, Ian Postlethwaite

Research output: Contribution to journalArticle (Academic Journal)peer-review

11 Citations (Scopus)


A recently proposed nonlinear antiwindup compensation scheme is implemented and tested on a 1/16 scaled BAeHawk jet trainer wind-tunnel model, mounted in a one degree of freedom configuration. The Hawk is modeled as anonlinear affine system subject to input amplitude constraints. The primary control system consists of an inner-loop nonlinear dynamic inversion controller and an outer-loop linear proportional integral derivative controller. The input constraints are addressed by supplementing this nominal controller with two types of nonlinear antiwindup schemes: a nonlinear variant of the well-known internal model control scheme and a suboptimal L2 norm-based antiwindup compensator. Wind tunnel results are presented which demonstrate the usefulness of the antiwindup schemes in preventing performance deterioration due to the input constraints and the flexibility of the proposed approach from a practical perspective.
Original languageEnglish
Pages (from-to)1035-1046
Number of pages11
JournalJournal of Guidance, Control, and Dynamics
Issue number4
Early online date6 May 2013
Publication statusPublished - 1 Jul 2013
EventPresented as Paper 2008-6791 at the AIAA Guidance, Navigation and Control Conference and Exhibit, Honolulu, HA, 18–21 August 2008 - Honolulu, HA, United States
Duration: 18 Aug 200821 Aug 2008

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