PI(D) tuning for Flight Control Systems via Incremental Nonlinear Dynamic Inversion

Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) — more familiar in the aerospace community — are in fact equivalent to TDC. This leads to a meaningful and systematic method for PI(D)-control tuning of robust nonlinear flight control systems via INDI. We considered a reformulation of the plant dynamics inversion which removes effector blending models from the resulting control law, resulting in robust model-free control laws like PI(D)-control.