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In-flight demonstration and verification of a robust flight control design including an advanced anti-windup strategy is presented in this paper. The test aircraft, an Ultrastick 120 unmanned aircraft, is equipped with a pitch- and roll-attitude command flight-control system for remotely controlled augmented flight. The longitudinal aircraft dynamics are enhanced with an H1-based control design. The controller additionally comprises an dvanced anti-windup strategy to avoid integrator windup during actuator saturation. The lateral axis features a linear-parameter varying controller which provides robust performance over the whole velocity range. The controllers as well as the anti-windup algorithm are verified and validated in a non-linear simulation environment and by various flight tests. The paper provides detailed insight in the design process of the controllers, as well as a comprehensive discussion on the simulation and flight test results.

In this paper, the problem of applying H_infinity optimization synthesis to design a position controller for DC drives is considered. Robust stability, low sensitivity both to system parameter variations and exogenous disturbances, robust tracking property without steady-state error are expected to be achieved by means of H_infinty control theory. Firstly a simulation and then an experiment have been set up and tested by controlling the position of an unstable mechanical system represented by an inverted pendulum. The results obtained fully confirm the validity of the design procedure and the robustness of the proposed controller.