Performance and Robustness Analysis of INDI Flight Control Laws with L1 Adaptive Augmentation

Giorgio Raos; Giovanni Gozzini; Davide Invernizzi

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CEAS EuroGNC 2026

Performance and Robustness Analysis of INDI Flight Control Laws with L1 Adaptive Augmentation

Giorgio Raos	Research Fellow, Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Via La Masa 34, 20156 Milano.
Giovanni Gozzini	Postdoctoral Research Fellow, Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Via La Masa 34, 20156 Milano.
Davide Invernizzi	Associate Professor, Dipartimento di Scienze e Tecnologie Aerospaziali, Politecnico di Milano, Via La Masa 34, 20156 Milano.

Abstract:
This work presents the analysis of performance and robustness properties of different INDI architectures, together with the evaluation of the effectiveness of an L 1 Piecewise Constant (PwC) adaptive augmentation, designed to compensate for perturbations in the dynamics. Using as application scenario the nonlinear longitudinal dynamics of a tail-controlled airframe, an INDI pitch rate control loop is designed within the cascade of a climb angle autopilot. The differences between model-based and sensor-based INDI control laws are highlighted both in the time-domain and in the frequency-domain, and a sensitivity study is performed with respect to the tuning parameters of the adaptive augmentation. The results highlight performance and robustness tradeoffs in the design of the adaptive controller when considering different baseline INDI architectures, offering valuable insights on the tuning of these innovative control systems.

Keywords: Incremental Nonlinear Dynamic Inversion; Adaptive Control; Aircraft Flight Control Systems; Robustness analysis

View PDF CEAS-GNC-2026-072 doi: 10.82124/CEAS-GNC-2026-072

Giorgio Raos, Giovanni Gozzini, Davide Invernizzi: Performance and Robustness Analysis of INDI Flight Control Laws with L1 Adaptive Augmentation. Proceedings of the 2026 CEAS EuroGNC conference. Madrid, Spain. May 2026. doi: 10.82124/CEAS-GNC-2026-072.

BibTeX entry (UTF-8):

@Incollection{CEAS-GNC-2026-072,

    author = {Raos, Giorgio and Gozzini, Giovanni and Invernizzi, Davide},

    title = {Performance and Robustness Analysis of INDI Flight Control Laws with L1 Adaptive Augmentation},

    booktitle = {Proceedings of the 2026 {CEAS EuroGNC} conference},

    address = {Madrid, Spain},

    month = may,

    year = {2026},

    doi = {10.82124/CEAS-GNC-2026-072}

}