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Switching Based MIMO Robust Autopilot Design: A Munition Example

This study presents the implementation of robust control methods to dynamically switched guided munition sys-tems. Controllers to be used in the switching structure must op-erate under uncertainty and have high disturbance suppression. µ-synthesis method, which is one of the commonly used robust control methods, is utilized. µ controllers are designed for the system obtained by linearization in short regions under nonlinear dynamics varying with altitude and mach number of the guided munition system. The controller reference signals are received from the guidance block while the controller output signal includes changes in the aileron, rudder, elevator channels for the Control Actuation System (CAS). Switched controller design is first realized between two controllers. Then, the controller matrix that will cover all the mach number and altitude regions in the flight is designed and the switching algorithm between the controllers in this matrix is implemented. The system model is designed in the MATLAB/Simulink environment. With the controllers integrated into this designed model, the switching algorithm is created with the function written in MATLAB. The simulation results show that the proposed control scheme works well despite the presence of disturbance and uncertainties, so the control system meets the requirements.