The "Baseline" and "Classical" controllers use a classic cascaded-loop architecture with
three inner P-only loops to control the angular rates p,q,r, and three outer PI loops to
control the angular positions phi,alpha,beta. The six proportional gains and three integral
gains are all scheduled as a function of alpha and beta. The "Baseline" variant contains
the baseline design featured in “NASA HL-20 Lifting Body Airframe” (Aerospace
Blockset). Parts 2 and 3 of this series use the "Classical" variant to walk through the
tuning process. The active variant is controlled by the workspace variable CTYPE. Set its
value to 2 to activate the "Classical" variant of the controller.
% Select "Classical" variant of controller
CTYPE = 2;
Note that this variant uses a mix of lookup tables and MATLAB Function blocks to
schedule the autopilot gains.
Angular Rate Control in the HL-20 Autopilot