Konstruktionsmetoder för robotstyrautomater

In this report different missile control design methods and modelling methodologies are compared. In chapter 1 traditional and modern design and modelling methodologies are reviewed and compared. In chapter 2 the theory of robustness analysis is covered and such an analysis is applied to a simple missile model. The results of an explicit robust stability analysis and a u analysis are compared and they are seen to agree. In chapter 3 an equation based SoFRam missile model is given and chapter 4 provides a sketch of a traditional gain scheduling controller for this model. Chapter 5 and 6 describe how the design of nonlinear controllers can be partly automatized. Chapter 5 describes how an equation based model implemented in the symbolic language Maple can be transformed to a form that can be used by the simulation environment Simulink. Chapter 6 shows how controllers to models obtained this way can be produced by the Nonlinear Synthesis Toolbox. These two chapters describe ongoing work.