Recently, the concept of Incremental Nonlinear Dynamic Inversion (INDI) has seen an increasing adoption as an attitude control method for a variety of aircraft configurations. The reasons for this are good stability and robustness properties, moderate computation requirements and low requirements on modeling fidelity. While previous work [1] investigated the robust stability properties of INDI, the actual closed-loop performance may degrade severely in the face of model uncertainty. We address this issue by first analyzing the effects of modelling errors on the closedloop performance by observing the movement of the system poles. Based on this, we analyze the neccessary modeling fidelity and propose simple modeling methods for the usual actuators found on small-scale electric aircraft. Finally, we analyze the actuator models using (flight) test data where possible.

中文翻译：

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使用增量非线性动态反演的姿态控制执行器建模

最近，增量非线性动态反演 (INDI) 的概念被越来越多地用作各种飞机配置的姿态控制方法。其原因是稳定性和鲁棒性好，计算要求适中，对建模保真度要求不高。虽然之前的工作 [1] 研究了 INDI 的鲁棒稳定性特性，但面对模型的不确定性，实际的闭环性能可能会严重下降。我们首先通过观察系统极点的运动来分析建模错误对闭环性能的影响来解决这个问题。在此基础上，我们分析了必要的建模保真度，并针对小型电动飞机上常见的执行器提出了简单的建模方法。最后，