Assignment - 1

AE322A: Aircraft Control System

Submission Due Date: 13th February 2022

Problem 1: Consider the case of a navy pilot landing an aircraft on an aircraft carrier. The pilot has
three basic tasks. The first task is guiding the aircraft’s approach to the ship along the extended center
line of the runway. The second task is maintaining the aircraft on the correct glideslope. A model of a
lateral position control system is shown in the following figure.

Aircraft: Aileron and Aircraft

𝑅(𝑠) U(𝑠)
+ 𝐾 (𝑠 + 1) 1 𝑌(𝑠)
Center Line − 𝑠 (𝑠 − 1)(𝑠 2 + 10𝑠 + 40)
𝐿𝑎𝑡𝑒𝑟𝑎𝑙 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛

Y(𝑠)
a) Find the closed-loop transfer function ⁄𝑅(𝑠). Find the closed loop step response for 𝐾 =
80.
b) Now determine the range of 𝐾 for which the system is stable and determine the gain 𝐾 for
which the system is marginally stable.
c) Now consider there is a delay between the demanded control torque, and the actual torque
delivered by the actuator. A reasonable actuator model is the first order transfer function:
10
U (s) = U c ( s)
10s + 1
Find the closed-loop transfer function 𝑌(𝑠)/𝑅(𝑠) with the above actuator function. Determine
the range of K for which the system is stable.
R(𝑠)
d) Find the closed-loop transfer function ⁄𝑌(𝑠) when the control is proportional-derivative-
𝐾
integral, that is when 𝐺𝑐 (𝑠) = 𝐺𝑐 (𝑠) = 𝐾𝑝 + 𝐾𝑑 𝑠 + 𝑖⁄𝑠 is placed just before the actuator in
series (replaced the original one by the current one.
e) Using the Routh analysis, determine the conditions on control parameters 𝐾𝑝 , 𝐾𝑑 , 𝐾𝑖 for
asymptotically stabilize the system.

Problem 2: The block diagram of proportional-integral (PI) control system is shown in the following
figure.

PI controller
𝑅(𝑠) U(𝑠) 𝑌(𝑠)
+ 𝐾𝑐 (𝜏𝐼 𝑠 + 1)
𝐺 (𝑠)
− 𝜏𝐼 𝑠
Assume the plant transfer function is given by 𝐺(𝑠) = 0.3⁄𝑠 + 1. The PI controller has the proportional
gain constant 𝐾𝑐 = 8, and the integral time constant 𝜏𝐼 = 3 and 0.5, respectively.
a) Find the locations of the closed -loop system’s poles.
b) Assuming the reference trajectory 𝑟(𝑡) as a step signal, find the steady state value of the closed-loop
system output 𝑦(𝑡).
Problem 3: A paper-pilot model is sometimes used in aircraft control design and analysis to represent
the pilot in the loop. A closed-loop control block diagram of an aircraft with a pilot ‘in the loop’ is
shown in the following figure.

Controller (pilot model) Elevator Servo

𝑅(𝑠) = 𝜃𝑑
𝐾 (𝜏1 𝑠 + 1)(𝜏𝑠 − 2) U(𝑠) −10
+
− (𝜏2 𝑠 + 1)(𝜏𝑠 + 2 (𝑠 + 10)

Aircraft Model
−(𝑠 + 6)
𝑠(𝑠 2 + 3𝑠 + 10)

𝑌(𝑠) = 𝜃(𝑠)

θ(𝑠)
a) Determine the closed-loop transfer function ⁄θ (𝑠).
𝑑
b) The variable 𝜏 represents the pilot’s time delay. We can represent a slower pilot with 𝜏 = 0.6
and a faster pilot with 𝜏 = 0.1. The remaining variables in the pilot model are assumed to be
𝐾 = 1, 𝜏1 = 2, 𝜏2 = 0.5. Find the step response for both fast and slow closed loop systems.
c) Using a Routh analysis, numerically determine the range of 𝐾 in terms of 𝜏1 , 𝜏2 (𝑡𝑎𝑘𝑒 𝜏 = 0.5)
for asymptotically stable system. Find the step response by choosing the value of 𝐾 using the
conditions you found by Routh criterion for asymptotically stable condition.

Problem 4: Consider the transfer functions of proportional-integral-derivative (PID) controller and

plant as

ki
Gc ( s ) = k p + + kd s
s
2.0
G p ( s) =
s ( s + 1)( s + 2)

The closed-loop controlled system is given by

𝑅(𝑠) 𝐶(𝑠)
+ 𝐺𝑐 (𝑠) 𝐺𝑝 (𝑠)
−
Design a PID controller for the above system using Zeigler-Nicholas rule. Find the overall closed-loop
transfer function and find closed-loop system poles. Comment on stability of the controlled system
based on the pole locations.
Problem 5: As we know the Wright Flyer was statically and dynamically unstable. But Wright brothers
had put enough effort or control authority into their design so that there were able to fly their aircraft
successfully. Although the airplane was quite difficult to fly, the combination of the pilot and airplane
could be able to stabilize the overall system. The closed-loop autopilot is given in the following figure.

Controller Airframe
𝑅(𝑠) = 𝜃𝑐 𝛿𝑐 𝑌(𝑠) = 𝜃
+ 𝐺𝑐 (𝑠) = 𝐾𝑝 𝐺𝑝 (𝑠)
−

The attitude to canard deflection is deflection is given by

 11.0( s + 0.5)( s + 3.0)

= 2
 c ( s + 0.72s + 1.44)( s 2 + 5.9 s − 11.9)
Determine the root locus plot of the closed-loop system and determine the range of controller gain at
which the closed-loop system will be stable.

Problem 6: A simplified closed-loop pitch control system is shown in the following figure.

PID controller Elevator Servo System Aircraft Dynamics

𝑅(𝑠) = 𝜃𝑐 𝐶(𝑠) = 𝜃
+ 𝐺𝑐 (𝑠) 𝐺𝑒 (𝑠) 𝐺𝑝 (𝑠)
−

The transfer functions of the subsystems are:

ki
Gc ( s ) = k p + + kd s
s
−10
Ge ( s ) =
s + 10
−3
G p ( s) = 2
s + 3s + 4
Design a PID controller for the pitch control system of the above closed-loop aircraft (autopilot) and
plot the response of the system to a 40 step change in the command pitch attitude.
Problem 7: The closed-loop system of the roll control of an aircraft (autopilot) is shown in the following
figure.

Controller Airframe
𝑅(𝑠) = ∅𝑐 𝑌(𝑠) = ∅
+ 𝐺𝑐 (𝑠) 𝐺𝑝 (𝑠)
−

where,

Ka
Gc =
s + 10
1.0
G p (s) =
s ( s + 1)

Find the root-locus plot of the above system. In addition, answer the following
a) Determine the value of the gain, 𝐾𝑎 , so that the control system has a damping ratio of 𝜁 = 0.707.
b) Find the steady state error for the step and ramp input?

c) Find the response of the control system to a 60 step change in bank angle command.

Marks Distribution:
• Prob1- 15 marks
• Prob2- 10 marks
• Prob3- 10 marks
• Prob4- 20 marks
• Prob5- 15 marks
• Prob6- 15 Marks
• Prob7- 15 marks.