Reconfigurable tracking control with saturation

On-line system identification and on-line optimization is used to maximize aircraft tracking performance before and after control surface failure, yet prevent instability and departure. The on-line optimization consists of receding horizon/model predictive optimal control with one-step-ahead actuator rate constraint enforcement. Such hard constraint enforcement is rigorous through use of a linear programming algorithm to include rate saturation in the design. The paper demonstrates that the full, infinity norm solution with one-step-ahead constraint enforcement is equivalent to a simple one-dimensional optimization whose solution is attainable in closed form. This equivalence allows for an efficient on-line implementation of reconfigurable control with hard actuator rate constraints. Good tracking performance after severe failure is demonstrated in realistic simulations.