Decoupling compensation for the Apache helicopter

Kevin L. Hicks, Armando Rodriguez

Research output: Chapter in Book/Report/Conference proceedingChapter

14 Scopus citations


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.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Number of pages5
StatePublished - Dec 1 1996
EventProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4) - Kobe, Jpn
Duration: Dec 11 1996Dec 13 1996

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216


OtherProceedings of the 35th IEEE Conference on Decision and Control. Part 4 (of 4)
CityKobe, Jpn

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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