Blk = 'csthl20_control/Flight Control System/Controller/MIMO/Product';
Subs = [zeros(3) append(ss(Kp),ss(Kq),ss(Kr))];
BlockSub4 = struct('Name',Blk,'Value',Subs);
ST0.BlockSubstitutions = [ST0.BlockSubstitutions ; BlockSub4];
The gain schedules "P" and "I" are initialized to the constant diagonal matrices
diag([0.05, 0.05, -0.05]). Plot the angular responses for these initial settings.
T0 = getIOTransfer(ST0,'Demand',{'Phi_deg','Alpha_deg','Beta_deg'});
step(T0,6)
Attitude Control in the HL-20 Autopilot - MIMO Design