Dynamic Inversion: An Incrementally Evolving Methodology for Flight Control Design
Nonlinear Dynamic Inversion (NDI) has become a standard methodology in flight control law design. It offers an intuitive approach to decouple commanded variable responses, handle system nonlinearities, and adapt to operating conditions. NDI also comes with a well-structured architecture that reduces design effort by addressing various functional aspects in separate components, and that allows straightforward integration of extended capabilities, such as envelope protection, control saturation handling, and compensating for faults or damage. A development that has resulted in considerable renewed attention is the use of (angular) acceleration sensors to partially replace inverse model equations. Known as incremental NDI, or INDI, this development offers reduced sensitivity to modeling errors and lower control law complexity. Incremental NDI, however, lacks useful design degrees of freedom in the previously present inverse model equations and underlying feedback signal synthesis, and comes with pitfalls in design aspects like control allocation, disturbance rejection, and inter-disciplinary couplings. This has given rise to recently developed hybrid and mathematically restructured approaches. The aim of this article is to give an up-to-date, structured overview of the various evolved forms of NDI from conceptual, historical, architectural, and mathematical perspectives. It hereby intends to provide useful considerations for future flight control law developments by reviewing its various forms and potentials from methodological, design, and application points of view.