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Small Unmanned Aircraft by Timothy W. McLain, Randal W. Beard

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5

Linear Design Models

As chapters 3 and 4 have shown, the equations of motion for a MAV are a fairly complicated set of 12 nonlinear, coupled, first-order, ordinary differential equations, which we will present in their entirety in section 5.1. Because of their complexity, designing controllers based on them is difficult and requires more straightforward approaches. In this chapter, we will linearize and decouple the equations of motion to produce reduced-order transfer function and state-space models more suitable for control system design. Low-level autopilot control loops for unmanned aircraft will be designed based on these linear design models, which capture the approximate dynamic behavior of the system under specific conditions. The objective ...

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