@inbook{f44694de262d4af8b911fbc47dbb0ba9,
title = "Decoupling compensation for the Apache helicopter",
abstract = "The design of a decoupling compensator for the Apache helicopter is presented. The design is based on linear quadratic regulation with implicit model following. A decoupling compensator is designed for a reduced-order linear model of vehicle dynamics at hover using eigenstructure assignment. The resulting closed-loop system is used as a reference model in the design of a compensator for the full-order system, resulting in a constant state feedback matrix. A feedforward matrix (command mixer) is then designed to diagonalize the system at low frequencies. The design is evaluated with both the full-order linear model and a nonlinear simulation (ARMCOP). It is found to provide desired bandwidth and good decoupling properties with the linear model. The nonlinear simulation shows increased coupling due to the nonlinearities.",
author = "Hicks, {Kevin L.} and Armando Rodriguez",
year = "1996",
month = dec,
day = "1",
language = "English (US)",
series = "Proceedings of the IEEE Conference on Decision and Control",
pages = "1551--1555",
editor = "Anon",
booktitle = "Proceedings of the IEEE Conference on Decision and Control",
note = "Proceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) ; Conference date: 11-12-1996 Through 13-12-1996",
}