Cascaded and Non-Cascaded Incremental Nonlinear Dynamic Inversion Flight Control Applied to a Light Aircraft

This paper presents a framework for attitude tracking flight control for a light aircraft using Cascaded and Non-Cascaded Incremental Nonlinear Dynamic Inversion structures. The theoretical background, properties, and a framework for flight control based on both the incremental nonlinear dynamic inversion control variants are presented in this paper. A study on the attitude tracking performance of the incremental dynamic inversion controller with and without time-scale separation or a light aircraft is performed through numerical simulations under nominal conditions and under the influence of model uncertainties.