Proceedings of the American Control Conference Philadelphia, Pennsylvania June 1998

tion of Control Syst

Sergey Edward Lyshevski

Department of Electrical Engineering Purdue University at Indianapolis 723 West Michigan Street, SL 160B Indianapolis, Indiana 46202-5 1 32 E-mail: lyshevs@engr.iupui.edu system to be identified. In particular, it was shown that for Abstract dynamic systems, described by nonlinear differential Nonlinear system identification of dynamic systems equations, the set of the measured time-domain data can is a topic of growing interest. The ability of model-based be used to find the unknown parameters. The goal of this systems analysis and design to attain the desired paper is to demonstrate the role and practical use of the objectives depends to a large degree on the accuracy of nonlinear error mappings to attain the desired quantities in the mathematical models derived and parameters used. To robusmess and convergence of the unknown parameters. avoid deficiencies associated with model validation and order estimation, accurate mathematical models should be The parameter identification, using a state-space timefound by using the fundamental laws, and the unknown domain nonlinear mapping-based concept, is found to be parameters have to be identified to perform analysis, robust and straightforward. To demonstrate the practical use of the researched design, and prototyping. This paper thoroughly studies the method, the unknown parameters of a multi-inpudmultimodel-relevant identification concept for continuous-time output model of aircraft are identified. nonlinear multi-inpudmulti-output systems in timedomain by using a nonlinear mapping-based 2. State-space time-domain mapping-based identification framework. Discrete-time and hybrid identification systems play an important role due to microprocessor-, Various identification methods have been microcomputer-, and DSP-based hardware platforms impressively applied, and papers [ 1-93 report applied to implement comprehensive control algorithms manageable analytical, numerical, and experimental in order to attain the desired objectives, specifications, and capabilities. However, the majority of systems to be results. In this section, a state-space nonlinear mappingcontrolled are continuous-time, and analog control is a based identification concept is researched. To develop manageable and straightforward solution in many an identification algorithm, to be applied to a wide class practical problems. The importance of the researched of nonlinear continuous-time systems, we use the time-domain concept lies on the need to identify following mathematical model in state-space form continuous-time systems to be used in the corresponding X(t> = F(x,r,d,u),XO(t0) = xo , (1) analysis, design, stabilization, and optimization. As an illustrative example, the unknown parameters of a highwhere XEXCB' is the state vector with auxiliary conditions performance aircraft are identified using the flight data. xo(to) = xo ; UEUCR" is the control vector; r c R c R b is the reference vector; d e D c R S is the disturbance vector; 1. Introduction Steady-state and dynamic characteristics of dynamic F(~):R'xRb~Rs~xllB"~xllBc is Lipschitz. systems depend on control algorithms used. To approach Our goal is to identify the dynamic system by the design as well as to solve stabilization and mapping the nonlinear dynamics by Mdel in optimization problems, the parameters must be identified. A large variety of feasible methods have been developed XXRXDXUCR'XR~XR~XR". In particular, we have for deriving the unknown parameters from experimentally Mdel L X ( X , , R,D,U), and using (l), one yields measured data, and transient responses are used. The state variables and outputs, generated by the forcing input vector (control, reference, disturbance, and noise), are From the incoming measured (observed) data, a used. The state-space nonlinear parameter identification parameter set must be identified to guarantee the framework was developed in [l, 21 using a mppingsuflciency criterion Mdel 15 M,,, with the required based concept for deriving the parameter values of dynamic systems. By applying this time-domain concept, accuracy. Here, M,,, is the originally mapped the model transients are matched to the real system (measured) information set, MryFIem EX(X,,R,D,U) . dynamics. The unknown parameters are identified using the mismatched dynamics (the error vector) and the With the model-based framework and the mapped known nonlinear differential equations govemed by the 0-7803-4530-4198 $10.000 1998 AACC 2366

information sets studied, the identified system model in

Then, from (8), we have

y
Z,+l

XxRxDxU can easily be validated from the measured input-state set (RxDxU)xXc(RbxRSxBm)xR'by using
experimental data. Using the known nonlinear quantities f ( x , r , d ,U), which are readily found from (l), and denoting a matrix of the unknown system parameters as AN(-):RLo+RC ' , from (l), one obtains x(t> = A, (t>f(x,rrd, 4, xo( t o ) = xo. (2) The matrix of unknown parameters AN must be found using a state-space model dynamics iM ( t )= A, ( t ) f ( x M r , d ,U). x M o (to1= x M 0 (3) A&*):R,,+R' '. To solve the nonlinear identification problem, we should adjust A, with regard to AN, keeping the model solution x , (.):[to,-)+Itc, xMEX,, as close as possible to the system dynamics x(.):[tO,w) +Rc, XIEX. The normalized parameter error matrix AA is

A,(t) = C e ( t ) " " ; ; ; f ( x , r , d , U ) T ~ ( t ) ,

i =O

(9)

A , ( t o 1= A,, . Hence, the unknown parameters are found by solving the nonlinear differential equation (9). The parameter convergence can be studied using the Lyapunov second method, and the matrix AA is an instrumental variable in designing Lyapunov functions [ 1, 21. The developed nonlinear identification algorithm is represented in Figure 1. Lemma. System (1) is identifiable in the convex bounded sets XcIW', XAR', UcR", R c R b , D c R s and ' if there exist a KL-function AcR' pA(-):B,oXR,o+R~oand K-functions px (.): R20+R20, P" (*>: R > O + R > O , P R (-1:I R L O + R > O , Po R 2 0 + ~ 2 0 . such that the solution AM(-):R~~+R'x z exists on [ t o , -) and satisfies
(a>:

&(t) = X ( t ) - x M ( t ) leads us to the state error vector. The mismatched dynamics are given by b ( t )= i ( t )- i.,( t )
= W t ) f ( x ,r ,d , U )+ A,

for all XEX,UGU, rER, d c D andA,EA on [to ,m) . If (10) is guaranteed, liml(AA(t)1 = 0 , and the solution of f

-'I

I,

(t>Af (x. x y ,rrd , U), M t o1 = ho ,

equation (9) converges to the unknown parameters AN;that with is, limll A, (t) = A, . Furthermore, solution A,
l+-

1)

( a )

(5) where Af((x,x, , r , d , ~ ) f= ( x , r , d , u ) - f ( x M, r , d , u ) . The error vector ed?cR' is defined as e(t)= W t ) - A,(t)Af(x,xM , r , d , u ) = ~ ( t ) f ( ~ , r , d , u )
(6)

An identification algorithm converges if

I+-

limll e ( t ) = o
f-w

I(

and lim((AA([) = 0 or lid1 A, (t) = A,.

t+-

(1

The normalized parameter error matrix evolves as

Y

A&)

=- C i =O e(t)~f.(x,r,d,U)TIW(t),

( ' )

A,(to) = A,, defined, bounded and stable in XcR', X K B ' , UCRm, RcRb7DCRs andAcRcx2 O n [ t o ,O0). Prooj The proof is straightforward using the results stated. The mismatched state dynamics of the system (2) and its model (3) are given by (3, and the normalized parameter error matrix LU is- expressed by equation ( 4 ) . By using the error vector (6), the differential equation for AA was found in (7). For timeinvariant dynamic systems A, (t) = 0 . Thus, by using (8), equation (9) for the matrix of unknown parameters A, results. The stability of solution (9) guarantees the parameter convergence. The related results are given in [ 1 , 21 using the Lyapunov stability theory. U

AA(t,) = 4 . Here, M(-):Rro+Rzxz,y = 0,1,2,... and w = 0,1,2,... . Making use of equations (4) and (7), one obtains

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Referencer(t),r E R Disturhunce d ( t ) , d E D

Figure 1 . Time-domainmapping-basedidentification algorithm for multivariable dynamic systems

3. Illustrative example Advanced aerodynamically improved aircraft configurations are needed to improve the mission effectiveness, to enhance the flight envelope, to attain the required flying and handling qualities, and to achieve the desired aircraft performance. In this section, we apply a nonlinear identification concept, developed in section 2, to identify the unknown parameters of a twin-tail supercritical swept wing aircraft. The following state and control vectors are used
x ( t ) = [v(t) a(t)40) 60) ~ ( t PO> ) r(t>$(t>

VW]T
Y

u(t>= [ 6 H R ( t )6 , ( t )6, ( t ) 6, (t> 6, (tf where v is the forward velocity [&sec]; a is the angle of attack [rad]; q is the pitch rate [raasec]: 8 is the pitch angle [rad]: B is the sideslip angle [rad]; p is the roll rate [rad/sec]; I is the yaw rate [radsec]; qj is the roll angle [rad]; y is the yaw angle [rad]: 6, and 6, are the deflections of the right and left horizontal stabilizers [rad]; 6, and 6, are the deflections of the right and left flaps [rad]: 6, and 6, are the canard and rudder deflections [rad]. The augmented longitudinal-lateral aircraft dynamics are given in terms of states and controls [lo131, and the aerodynamics is described by a set of

0 - p cosa tan / 3 - r sin a tan /3

- [1 (Iz I,
-Ix)pr-Zzp2

+I,r2

q cos@- r sin@

p sin a - r cosa

q tan 8 sin 4 + r tan 0 cos@ q cos-' 8 sin 4 + r cos-' e cos

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The unknown matrices A eIw9 and B e I W 9 6, as well as the moments of inertia I,, I,, I,, I , must be identified. Using the flight data, given for the state variables and deflections of control surfaces, the unknown aircraft parameters are identified by solving the nonlinear differential equation (9). Figures 2 and 3 illustrate the variations of states and controls because the measured state variables v, a ,q, 8 , p , p , Y, and deflections of control surfaces 6 , , 6,, 6,, 6,, fit, 6R have variations too small to be documented from illustrative perspectives.
Longirudinal Dynumics, Axl [-E{Ax, [rud],Ax3
0.09

0.06 I Deflections of Control , Surfaces, , Aul Au, ,AM,, Au, ,A u ~Au6 , [rad] 1

0.04
0.02
0

-0.02

e,

-0.04
-0.06

-0.08
-0.1
-0.12 -0.14'

[g&,[rad]

1 1 1 1 1 1 1

0.05

0.1

0.15

Time,seconds

0.2

0.25

0.3

0.35

0.4

Figure 3. Deflections of control surfaces The solution of the nonlinear equation (9), which takes 0.38 sec at the Pentium 300 MHz PC, gives the resulting unknown coefficients of the aircraft dynamic model; in particular, we have
0.53 -0.001 -0.68 0.0002 2.7 0 0 -0.001 0.69 0.00002 1.1 0.00001 -1.7 0 0 0 0

-0.009

-0.24
1

__

A=
".".

0.05

0.1

0.15

0.2

0.25

0.3

0 5

0.4

Time, seconds
0.1

-9.8 -0.46 -0.095 -0.14 0.12 0.037 0.005 0 -0.53 0 0.009 0.0062 0.028 0 0 0 0 0 0.42 0.18 -0.72 0.086 -0.15 0.53 -4.9 0.041 0.007 -26 0.098 0.01 1 7.4 -0.037 -0.82 0 1 0 0 0 0 0 0 0 -0.07 -0.13 0.0049 0 3.5 0 0 0 0.085 -0.051 0.26 -0.37 0.52 -4.6 0 0 0 0

0 0
0 0 0 0
0 0 0 0 0 0

0 0

0 0

0.08

B=
0.06

0.04

-0.045 0.093 0.093 0.045 -0.28 -0.28 -0.0068 -0.0068 -25 -25 -0.59 -059 0 0 0 0 0.015 -0.015 -0.36 0.36 -0.24 0.24 -9.8 9.8 -0.19 0.38 -0.38 0.19 0 0 0 0 0 0 0 0

0.02
0

I, =21983 kg-m2, 1,=154248 kg-mz, I , = 186515 kg-m2, and I, =2407 kg-m2. Nonlinear modeling has been performed using the identified parameters, and the comparison of the experimental and simulation results shows the exact match.

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4. Conclusions In this paper, a state-space nonlinear mappingbased identification concept has been applied to identify nonlinear continuous-time systems, and the Lemma relates the parameter convergence problem to the identification algorithm introduced. A complete, feasible, well-understood, and ready-to-use identification procedure is developed to find the unknown system parameters. The reported identification algorithm can be applied to solve the motion control problem because the unknown parameters can be found in real-time. It was shown that to identify the unknown parameters of multi-inpudmulti-output highly coupled nonlinear aircraft, 0.38 seconds are needed.

[9]

S. Rangan, G. Wolodkin and K. Poola, "New

[lo]

[1 I ]

[I21 [13]

References S. Lyshevski, "State-space model identification of deterministic nonlinear systems: nonlinear mapping technology and application of the Lyapunov theory," Automatica, no. 4, 1998. S. Lyshevski, "Nonlinear error mapping technology in system identification," Proc. American Control Con$, Albuquerque, NM, vol. 1 , pp. 605-606, 1997. K. Dunipace and S. Lyshevski, "A unified view of the identification-optimization problem from flight dynamics and control perspectives", Proc. IASTED Intern. Con. Control'97, Cancun, Mexico, pp. 248-249, 1997. W. E. Larimore, 'The optimality of canonical variate identification by example," Proc. ZFAC Symp. System Identification, Copenhagen, Denmark vol. 2, pp. 151- 156, 1994. S. Lyshevski, "State-space identification of nonlinear flight dynamics," Proc. Con$ Control Applications, Hartford, CT, pp. 496-498, 1997. S. Lyshevski and K. Dunipace, "Identification and tracking control of aircraft from real-time perspectives," Proc. Con$ Control Applications, Hartford, CT, pp. 499-504, 1997. Z . Pan and T. Basar, "Parameter identification for uncertain linear systems with partial state measurements under an H" criterion,'' Proc. Con. Decision and Control, New Orleans, LA, vol. 1, pp. 709-714, 1995. R. K. Mehra, "A new unified approach to state space model structure determination and maximum likelihood identification with aerospace applications," Proc. IFAC Symposium in System Ident$cation, Copenhagen, Denmark, vol. 3, pp. 55-60, 1994.

results for Hammerstein system identification," Proc. Con. Decision and Control, New Orleans, LA, vol. 1, pp. 697-702, 1995. A. E. Bryson, Control of Spacecraft and Aircraft. Princeton University Press, Princeton, NJ, 1993. D. McRuer, I. Ashkenas and D. Graham, Aircraft Dynamics and Automatic Control. Princeton University Press, Princeton, NJ, 1976. A. Miele, Flight Mechanics. Volume I : Theory of Flight Path, Addison-Wesley, Reading, MA, 1962. S. Lyshevski, "Design of robust flight control systems for advanced technology vehicles," Proc. Con. Control Applications, Dearbom, MI, pp. 1096-1101, 1996.

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