Flight Mechanics and Control Systems

Lecture 3: Kinematics and Dynamics

Dr. Hailong Huang

Assistant Professor
Department of Aeronautical and Aviation Engineering
The Hong Kong Polytechnic University
 Lab 1 organization
• Students in subclass A and B will join Lab 1 session 15:30 – 18:30, Monday, Week 5.
• Students in subclass C and D will join Lab 1 session 15:30 – 18:30, Monday, Week 7.
• For the two students in a group, you will be grouped into the same channel in MS Teams as
shown in the before figure.
• The TAs will launch the meetings around 15:30 one by one.
 Lab 1 organization
• You can decide to let one to remotely control a computer of QT004b.
• You can ask questions about Tasks 1-3 of the design project.
• TAs and I may drump between groups.
• When you want to have your TA or me in your channel, please send a message
in the chat box of the general channel with @ as shown in the before figure.

TA of subclass A TA of subclass B TA of subclass C TA of subclass D

 Lab 1 organization
• Ungrouped students

Please find a group mate among this list by Saturday.

I will group the rest randomly after Saturday.
Outline

• Review of coordinate system transformation

• State variables
• Kinematics models
• Dynamics models
• Tutorial of Task 3
Review of coordinate system transformation
Rotation matrix
A right-handed rotation A right-handed rotation A right-handed rotation
of ℱ 0 about the k-axis? of ℱ 0 about the j-axis? of ℱ 0 about the i-axis?

j0
j1
ℛ𝑎𝑏 (𝜃)T =ℛ𝑎𝑏 (𝜃)−1 = ℛ𝑏𝑎 (−𝜃)

ℛ𝑏𝑐 (𝜙)ℛ𝑎𝑏 (𝜃)=ℛ𝑎𝑐 (𝜙, 𝜃) i1

𝜃
i0
 Review of coordinate system transformation
From the vehicle frame ℱ 𝑣 to the body frame ℱ 𝑏

• The vehicle frame Can we change the order of the rotations?

Yaw angle 𝜓
• The vehicle-1 frame Euler angles are commonly used
Pitch angle 𝜃 because they provide an intuitive means
• The vehicle-2 frame
Roll angle 𝜙 for representing the orientation of a
• The body frame body in space (three dimensions).

Transformation
matrix c𝜆 = cos 𝜆
s𝜆 = sin 𝜆
 Review of coordinate system transformation
From the vehicle frame ℱ 𝑣 to the body frame ℱ 𝑏

• The vehicle frame Can we change the order of the rotations?

Yaw angle 𝜓
• The vehicle-1 frame Euler angles are commonly used
Pitch angle 𝜃 because they provide an intuitive means
• The vehicle-2 frame
Roll angle 𝜙 for representing the orientation of a
• The body frame body in space (three dimensions).

Angular orientation of
Attitude of an aircraft an aircraft with respect
to the vehicle frame
(North-East-Down)
 Review of coordinate system transformation
From the body frame ℱ 𝑏 to the vehicle frame ℱ 𝑣

• The body frame Roll angle −𝜙

• The vehicle-2 frame
Pitch angle −𝜃
• The vehicle-1 frame
• The vehicle frame Yaw angle −𝜓

𝓡𝒗𝒃 −𝜓, −𝜃, −𝜙 = 𝓡𝒗𝒗𝟏 −𝜓 𝓡𝒗𝟏 𝒗𝟐

𝒗𝟐 −𝜃 𝓡𝒃 (−𝜙)

cos( − 𝜓) sin(−𝜓) 0 cos −𝜃 0 − sin −𝜃 1 0 0

= −sin(−𝜓) cos(−𝜓) 0 0 1 0 0 cos(−𝜙) sin(−𝜙)
0 0 1 sin −𝜃 0 cos −𝜃 0 −sin(−𝜙) cos(−𝜙)
C𝜓 C𝜃 −S𝜓 C𝜙 + C𝜓 S𝜃 S𝜙 S𝜓 S𝜙 + C𝜓 S𝜃 C𝜙
= S𝜓 C𝜃 C𝜓 C𝜙 + S𝜓 S𝜃 S𝜙 −C𝜓 S𝜙 + S𝜓 S𝜃 C𝜙
−S𝜃 C𝜃 S𝜙 C𝜃 C𝜙
 Review of coordinate system transformation
Vehicle frame ℱ 𝑣 to body frame ℱ 𝑏 : 𝓡𝒃𝒗 Body frame ℱ 𝑏 to vehicle frame ℱ 𝑣 : 𝓡𝒗𝒃
• The vehicle frame • The body frame Roll angle −𝜙
Yaw angle 𝜓
• The vehicle-1 frame • The vehicle-2 frame
Pitch angle 𝜃 Pitch angle −𝜃
• The vehicle-2 frame • The vehicle-1 frame
• The body frame Roll angle 𝜙 • The vehicle frame Yaw angle −𝜓
𝓡𝒃𝒗 (𝜙, 𝜃, 𝜓) = 𝓡𝒃𝒗𝟐 (𝜙)𝓡𝒗𝟐 𝒗𝟏
𝒗𝟏 (𝜃)𝓡𝒗 (𝜓)
𝓡𝒗𝒃 −𝜓, −𝜃, −𝜙 = 𝓡𝒗𝒗𝟏 −𝜓 𝓡𝒗𝟏 𝒗𝟐
𝒗𝟐 −𝜃 𝓡𝒃 (−𝜙)
p𝑏 = 𝓡𝒃𝒗𝟐 (𝜙)𝓡𝒗𝟐 𝒗𝟏
𝒗𝟏 (𝜃)𝓡𝒗 (𝜓)p
𝑣

𝓡𝒃𝒗𝟐 (𝜙)−1 p𝑏 = 𝓡𝒗𝟐 𝒗𝟏

𝒗𝟏 (𝜃)𝓡𝒗 (𝜓)p
𝑣 P1.1 ℛ𝑎𝑏 (𝜃)T =ℛ𝑎𝑏 (𝜃)−1 = ℛ𝑏𝑎 (−𝜃)

𝓡𝒗𝟐
𝒗𝟏 (𝜃)−1 𝓡𝒃 (𝜙)−1 p𝑏 = 𝓡𝒗𝟏 (𝜓)p𝑣
𝒗𝟐 𝒗 𝓡𝒗𝒃 −𝜓, −𝜃, −𝜙

𝒗𝟐
𝓡𝒗𝟏 −1 𝒗𝟐 −1 𝒃 −1 𝑏
𝒗 (𝜓) 𝓡𝒗𝟏 (𝜃) 𝓡𝒗𝟐 (𝜙) p = p
𝑣 𝓡𝒗𝒗𝟏 (−𝜓)𝓡𝒗𝟏 𝑏
𝒗𝟐 (−𝜃)𝓡𝒃 (−𝜙)p = p
𝑣
 Review of coordinate system transformation

Body frame to wind frame

• The body frame

−𝛼
𝒔
• The stability frame 𝓡𝒘
𝒃 (𝛽, −𝛼) = 𝓡 𝒔
𝒃 (𝛽) 𝓡 𝒃 (−𝛼)

• The wind frame 𝛽

 Review of coordinate system transformation

Wind frame to body frame

• The wind frame

−𝛽
• The stability frame 𝓡𝒃𝒘 𝛼, −𝛽 = 𝓡𝒃𝒔 𝛼 𝓡𝒔𝒘 −𝛽
𝛼
• The body frame
cos 𝛼 0 − sin 𝛼 cos(−𝛽) sin(−𝛽) 0
= 0 1 0 −sin(−𝛽) cos(−𝛽) 0
sin 𝛼 0 cos 𝛼 0 0 1

cos 𝛼 cos 𝛽 − cos 𝛼 sin 𝛽 − sin 𝛼

= sin 𝛽 cos 𝛽 0
sin 𝛼 cos 𝛽 − sin 𝛼 sin 𝛽 cos 𝛼
 Review of Airspeed, Ground Speed, and Wind Speed
• Ground speed vector V𝑔 is expressed in the body frame:

• Wind speed vector is expressed in the inertial frame:

• V𝑤 can be transformed into the body frame:

• In the body frame, we have:

• 𝑢𝑟 , 𝑣𝑟 , and 𝑤𝑟 are used to calculate the aerodynamic forces and moments

acting on the airframe.
Important
• The body frame velocity components 𝑢, 𝑣, and 𝑤 are states of the airframe
comments
system and are readily available from the solution of the equations of motion.
• The wind velocity components 𝑢𝑤 , 𝑣𝑤 , and 𝑤𝑤 typically come from a wind
model as inputs to the equations of motion.
 Review of Airspeed, Ground Speed, and Wind Speed
• Combining the above expressions, we can express the airspeed vector body-frame
components in terms of the airspeed magnitude 𝑽𝒂 , 𝜶, and 𝜷：
V𝑎𝑏 = ℛ𝑤
𝑏 𝑤
V𝑎

V𝑎𝑏
Expressions of
cos 𝛼 cos 𝛽 − cos 𝛼 sin 𝛽 − sin 𝛼 𝑉𝑎 , 𝛼, 𝛽 in 𝑢𝑟 , 𝑣𝑟 , 𝑤𝑟 ?
= sin 𝛽 cos 𝛽 0
sin 𝛼 cos 𝛽 − sin 𝛼 sin 𝛽 cos 𝛼

These expressions are essential

in formulating the equations of
motion for an airframe.
 Review of Airspeed, Ground Speed, and Wind Speed

• The direction of the ground speed

vector V𝑔 relative to an inertial 3D view

frame is specified using two angles:

• 1) the flight path angle 𝛾: the angle
between the horizontal plane and
the ground velocity vector V𝑔 ;
• 2) the course angle 𝜒: the angle
between the projection of V𝑔 onto
the horizontal plane and true north.
 Review of Airspeed, Ground Speed, and Wind Speed

Airspeed Wind speed

Course
angle Angle of attack

Ground speed
Sideslip
angle

Yaw
angle Flight path angle
Pitch angle

Top view Side view

Practice

i 𝑖 j𝑖
⊗ V𝑎1
i𝑏
No wind 30°
V𝑎2
j𝑏
k𝑖

k𝑏
1. Draw the body frame
2. Specify the Euler angles
3. When the aircraft flies in the airspeed vector V𝑎1 , what is the angle of attach 𝛼?
4. When the aircraft flies in the airspeed vector V𝑎2 , what is the angle of attach 𝛼?
 Study schedule

• Task 0: Github
• Week 1: Introduction • Task 1: Build a fixed-wing aircraft
• Week 2, 3: Coordinate systems • Task 2: Implement coordinate system transformation
• Week 4: Kinematics and dynamics • Task 3: Use forces and torques for aircraft control

• Week 5: Aerodynamic forces and moments • Task 4: Use control surfaces for aircraft control

• Week 6: Design models • Task 5: Compute design models under trim condition

• Week 6: Autopilot control laws • Task 6: Autopilot design

• Task 7: State estimation (optional)
• Week 7: Mid-term review and test
• Week 8: Sensors and State estimation
• Week 9: Flight management I
• Week 10: Flight management II
• Week 11: Final review
 1. State Variables
• In developing the equations of motion for an aircraft, 12 state variables will be introduced.
• 3 position states and 3 velocity states associated with the translational motion.
• 3 angular position and 3 angular velocity states associated with the rotational motion.
1. Other Variables
Meaning & Meaning &
Symbol expression Symbol expression
• 𝑉𝑎 : • 𝛾
• 𝛼: • 𝜒
• 𝛽:
• V𝑎 :
• V𝑔 :
• V𝑤 :
• V𝑎𝑏 :
• V𝑔𝑏 :
𝑏:
• V𝑤
Overview of the model to be derived today
 2. Kinematics: Translation velocity and position
• The translational velocity of the aircraft is commonly expressed in terms of the velocity
components along each of the axes in the body frame.
• The components 𝑢, 𝑣, and 𝑤 are along i𝑏 , j𝑏 , and k 𝑏 axes, respectively.
• The translational position 𝑝𝑛 , 𝑝𝑒 , and 𝑝𝑑 of the aircraft is measured and expressed in the
inertial (NED) frame.
• Relating the translational velocity and position needs differentiation and a transformation
.𝑝 𝑢
.𝑝𝑛 This is a kinematic
𝑣
= ℛ𝑏 𝑣 relation relating
.𝑝𝑒 𝑤
𝑑 the derivative of
𝑝ሶ = 𝑣 position to velocity
 2. Kinematics: Angular velocity and position
• The relationship between angular positions 𝜓, 𝜃, and 𝜙 and the angular rates 𝑝, 𝑞, and 𝑟 is complicated
since these quantities are defined in different coordinate frames.
• The angular rates 𝜓, 𝜃, and 𝜙 are defined in the body frame ℱ 𝑏 .
• The roll angle 𝜙 is a rotation from ℱ 𝑣2 to ℱ 𝑏 about the i𝑣2 = i𝑏 axis;
• The pitch angle 𝜃 is a rotation from ℱ 𝑣1 to ℱ 𝑣2 about the j𝑣1 = j𝑣2 axis;
• The yaw angle 𝜓 is a rotation from ℱ 𝑣 to ℱ 𝑣1 about the k 𝑣 = k 𝑣1 axis.
• The body-frame angular rates can be expressed in terms of the derivatives of the Euler angles:
 2. Kinematics: Angular velocity and position

• The body-frame angular rates can be expressed in terms of the derivatives of the
Euler angles:
 Differentiation of a Vector-Mathematical tools

Tools for deriving dynamics of an aircraft

• To compute derivatives of vectors in reference frames that are moving with respect
to one another.
• Suppose that the vector p is moving in ℱ 𝑏 and that ℱ 𝑏 is rotating with respect to ℱ 𝑖 .
• Our objective is to find the time derivative of p as seen from frame ℱ 𝑖 .
• 𝝎𝑏/𝑖 : the 𝐚𝐧𝐠𝐮𝐥𝐚𝐫 𝐯𝐞𝐥𝐨𝐜𝐢𝐭𝐲 of frame ℱ 𝑏 in ℱ 𝑖 .
 Differentiation of a Vector-Mathematical tools
𝑓 𝑥 = 𝑔 𝑥 ℎ(𝑥)
Tools for deriving dynamics of an aircraft 𝑓ሶ 𝑥 = 𝑔ሶ 𝑥 ℎ 𝑥 + 𝑔 𝑥 ℎሶ 𝑥

• The time derivative of p with respect to frame ℱ 𝑖 is

𝑑
where represents time differentiation with respect to ℱ 𝑖 .
𝑑𝑡𝑖
Differentiation of a Vector-Mathematical tools

• The first three terms represent the change in p as viewed by an

observer in the rotating frame ℱ 𝑏 . Thus, the differentiation is carried
out in the moving frame ℱ 𝑏 . Denote this local derivative term by
 Differentiation of a Vector-Mathematical tools

• The next three terms represent the change in p due to the

rotation of frame ℱ 𝑏 relative to ℱ 𝑖 . Since i𝑏 , j𝑏 and k 𝑏 are fixed
in the ℱ 𝑏 frame, their derivatives can be calculated by
𝝎𝑏/𝑖 𝑑𝑡
𝝎𝑏/𝑖 i𝑏 + 𝑑i𝑏
sin 𝜃
i𝑏 i𝑏
𝜃 𝑑i𝑏 = 𝝎𝑏/𝑖 𝑑𝑡 sin 𝜃
𝑑i𝑏
= 𝝎𝑏/𝑖 sin 𝜃
𝑑𝑡
𝑑i𝑏
= 𝝎𝑏/𝑖 × i𝑏
𝑑𝑡
 Differentiation of a Vector-Mathematical tools

• We can rewrite the last three terms as

• Combining the two expressions, we have

• This gives the derivative of vector p in frame ℱ 𝑖 in terms of

a) its change as observed in frame ℱ 𝑏 and
b) the relative rotation of the two frames.
 3. Rigid-body Dynamics
To derive the dynamic equations of motion for the aircraft, we apply Newton’s
second law first to the translational degrees of freedom and then to the
rotational degrees of freedom.
Translational Motion
• We do this with the ground speed vector V𝑔 , which can be expressed in the body frame
as V𝑔𝑏 = (𝑢, 𝑣, 𝑤)T .
• Newton’s second law applied to a body undergoing translational motion can be stated
as

m: the mass of the aircraft,

𝑑
: the time derivative in the inertial frame,
𝑑𝑡𝑖
f: the sum of all external forces acting on the aircraft. The external forces include gravity,
aerodynamic forces, and propulsion forces.
 3. Rigid-body Dynamics
To derive the dynamic equations of motion for the aircraft, we apply Newton’s
second law first to the translational degrees of freedom and then to the
rotational degrees of freedom.
Translational Motion
• The derivative of velocity taken in the inertial frame can be written in terms of the
derivative in the body frame and the angular velocity as

𝝎𝑏/𝑖 is the 𝐚𝐧𝐠𝐮𝐥𝐚𝐫 𝐯𝐞𝐥𝐨𝐜𝐢𝐭𝐲 of the aircraft with respect to the inertial frame.
 3. Rigid-body Dynamics
Translational Motion

• Combining the above two expressions results in an alternative representation of Newton’s

second law with differentiation carried out in the body frame:

• In the case of a maneuvering aircraft, we can most easily apply Newton’s second law by
expressing the forces and velocities in the body frame as

𝑏
V𝑔𝑏 = (𝑢, 𝑣, 𝑤)T , 𝜔𝑏/𝑖 = (𝑝, 𝑞, 𝑟)T , f 𝑏 represents the sum of the externally applied
forces and is defined in terms of its body frame components as f 𝑏 = (𝑓𝑥 , 𝑓𝑦 , 𝑓𝑧 )T .
 3. Rigid-body Dynamics
Translational Motion

𝑑V𝑏
𝑔
• The expression is the rate of change of the velocity expressed in the body frame,
𝑑𝑡𝑏
as viewed by an observer on the moving body.
• Since 𝑢, 𝑣, and 𝑤 are the instantaneous projections of V𝑔𝑏 onto the i𝑏 , j𝑏 , and k 𝑏 axes, it
follows that

• Expanding the cross product in the Newton’s equation in the body frame and
rearranging terms 𝑏
𝜔𝑏/𝑖 × V𝑔𝑏 ?
3. Rigid-body Dynamics

Cross product of vectors Resulting in a vector

The cross product of two vectors a and b is denoted by a × b

• 𝜃 is the angle between a and b in the plane containing them (𝜃 ∈ [0, 𝜋]);
• n is a unit vector perpendicular to the plane containing a and b, in the
direction given by the right-hand rule.

𝑏
𝜔𝑏/𝑖 × V𝑔𝑏 ?
3. Rigid-body Dynamics

Cross product of vectors Resulting in a vector

The cross product of two vectors a and b is denoted by a × b

 3. Rigid-body Dynamics
Translational Motion

• Expanding the cross product in the Newton’s equation in the body frame and
rearranging terms, we get 𝑝 𝑢 𝑞𝑤 − 𝑟𝑣
𝑏
𝜔𝑏/𝑖 × V𝑔𝑏 = 𝑞 × 𝑣 = 𝑟𝑢 − 𝑝𝑤
𝑟 𝑤 𝑝𝑣 − 𝑞𝑢
𝑢ሶ 𝑞𝑤 − 𝑟𝑣 𝑓𝑥
1
𝑣ሶ + 𝑟𝑢 − 𝑝𝑤 = 𝑓𝑦
𝑤ሶ 𝑝𝑣 − 𝑞𝑢 m
𝑓𝑧
𝑢ሶ 𝑟𝑣 − 𝑞𝑤 𝑓
1 𝑥
𝑣ሶ = 𝑝𝑤 − 𝑟𝑢 + 𝑓𝑦
𝑞𝑢 − 𝑝𝑣 m
𝑤ሶ 𝑓𝑧
 3. Rigid-body Dynamics
Rotational Motion
• For rotational motion, Newton’s second law states that
where h is the angular momentum in vector form and m is the sum of all externally applied moments.
This expression is true provided that moments are summed about the center of mass of the aircraft.

• The derivative of angular momentum taken in the inertial frame can be expanded as

𝝎𝑏/𝑖 is the angular velocity of the aircraft with respect to the inertial frame.

• As with translational motion, it is most convenient to express this equation in the body
frame, giving
 3. Rigid-body Dynamics
Rotational Motion
• For a rigid body, angular momentum is defined as the product of the inertia matrix 𝐉 and the angular
𝑏
velocity vector: 𝐡𝑏 = 𝐉𝜔𝑏/𝑖
where

• The diagonal terms are called the moments of inertia.

• The off-diagonal terms are called the products of inertia.
• The moments of inertia are the measures of the aircraft’s tendency to oppose acceleration about a
specific axis of rotation.
• E.g., 𝐽𝑥 can be conceptually thought of as taking the product of the mass of each element composing the
aircraft (𝑑m) and the square of the distance of the mass element from the body 𝑥 axis (𝑦 2 + 𝑧 2 ) and
adding them up.
• Larger 𝐽𝑥 means more the aircraft opposes angular acceleration about 𝑥 axis.
 3. Rigid-body Dynamics
Rotational Motion
𝑏
𝐡𝑏 = 𝐉𝜔𝑏/𝑖

• As an aircraft is often symmetric about the plane spanned by i𝑏 and k 𝑏 , 𝐽𝑥𝑦 = 𝐽𝑦𝑧 = 0,
implying that

• The inverse of 𝐉 is given by

where
 3. Rigid-body Dynamics
Rotational Motion
𝑏
𝐡𝑏 = 𝐉𝜔𝑏/𝑖

𝑏
Because the integrals are calculated with respect to 𝑑𝐡𝑏 𝑑𝐉 𝑏 𝑑𝜔𝑏/𝑖
= 𝜔 +𝐉
𝑑𝑡𝑏 𝑑𝑡𝑏 𝑏/𝑖 𝑑𝑡𝑏
the i𝑏 , j𝑏 , and k 𝑏 axes fixed in the (rigid) body, 𝐉 is
constant when viewed from the body frame, hence
𝑑𝐉
= 0. Substituting into the above equation gives
𝑑𝑡𝑏
𝑏
𝑑𝜔𝑏/𝑖
The expression is the rate of change of the angular velocity expressed
𝑑𝑡𝑏
in the body frame, as viewed by an observer on the moving body.

Since 𝑝, 𝑞, and 𝑟 are the instantaneous projections

𝑏
of 𝜔𝑏/𝑖 onto the i𝑏 , j𝑏 , and k 𝑏 axes, it follows that
 3. Rigid-body Dynamics
Rotational Motion

• Rearranging the above equations gives

• Define the components of

the external moment about
the i𝑏 , j𝑏 , and k 𝑏 axes as
𝐦𝑏 = (𝑙, 𝑚, 𝑛)T

where
 3. Rigid-body Dynamics

• The 6-degree-of-freedom, 12-state model for the aircraft kinematics and dynamics are:

However, these equations are not

complete in that the externally
applied forces and moments are
not yet defined. Models for forces
and moments due to gravity,
aerodynamics, and propulsion
will be derived later.
Other Variables
Meaning & Meaning &
Symbol expression Symbol expression
• 𝑉𝑎 : • 𝛾
• 𝛼: • 𝜒
• 𝛽: • 𝝎𝑏/𝑖 :
• V𝑎 : • m:
• V𝑔 : • 𝐦:
• V𝑤 : • 𝐉:
• V𝑎𝑏 : • 𝐡:
• V𝑔𝑏 :
𝑏:
• V𝑤
Tutorial on Task 3 of design project
Tutorial on Task 3 of the design project

• Task 1: Build a fixed-wing aircraft (done)

• Task 2: Implement coordinate system transformation ▪ Task 3 is built upon Task 2.
• Task 3: Use forces and torques for aircraft control
▪ We add the kinematics and
• Task 4: Use control surfaces for aircraft control dynamics models we
• Task 5: Compute design models under trim condition derived to the codes you
• Task 6: Autopilot design developed in Task 2.
• Task 7: State estimation (optional)
 Tutorial on Task 3 of the design project

• A folder called Task3 contains three sub-folders.

• The folders named as parameters and tools store the other necessary parameters of the aircraft and
some complementary tools for simulation.

√
√
Task 2
√

√
Tutorial on Task 3 of the design project

√
Task 2 √
Tutorial on Task 3 of the design project

https://au.mathworks.com/help/simulink/sfg/what-is-an-s-function.html
 Tutorial on Task 3 of the design project
https://au.mathworks.com/help/simulink/sfg/what-is-an-s-function.html

Simulation Stages of S-function

Execution of a Simulink model proceeds in stages. In the Initialization phase, the Simulink engine
incorporates library blocks into the model, propagates signal widths, data types, and sample times,
evaluates block parameters, determines block execution order, and allocates memory.
Then, the engine enters a simulation loop, where each pass through the loop is referred to as
a simulation step. During each simulation step, the engine executes each block in the model. For each
block, the engine invokes functions that compute the block states, derivatives, and outputs for the current
sample time. The entire simulation loop then continues until the simulation is complete.
Update of Continuous States and Time - Takes place only if the model has continuous states.
Tutorial on Task 3 of the design project

√
 12 states

6 inputs: forces
and moments

√
√
√

Parameters
of gamma

√
 Summary

What we did:
• We have derived a 6-degree-of-freedom, 12-state model for an aircraft.
• This model will be the basis for analysis, simulation, and control design that will be
discussed later.
• A tutorial of Task 3.
 Thank You!

Dr. Hailong Huang

Assistant Professor
Department of Aeronautical and Aviation Engineering
The Hong Kong Polytechnic University
https://sites.google.com/view/hailong-huang/home
Email: [email protected]