Advanced control engineering (S.R. Burns, 2001)

Stabilization

Ship Roll

Fin

Dynamics

φd(s) +

δd(s)

δa(s)

φa(s)

Controller

1

Ksωn2

1 + Tfs

s

2

+ 2ζωns +

2

–

ωn

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4

ζ = 0.7

3

K(s + 2)(s

2

+ 4s + 8)

K = 10.2

G (s)H (s ) =

s (s + 1)(s2 + 0.7s + 2)

2

Axis

1

K = 10.2

Imaginary

0

–1

–2

–3

–4

–8

–7

–6

–5

–4

–3

–2

–1

0

1

–9

Real Axis

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θA(t )

G

β (t )

(a)

Missile

Controller

Fin Dynamics

Dynamics

θD(s ) +

U (s)

β (s)

θA(s)

G1(s)

G2(s)

G3(s)

–

(b)

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