Jm. Buffington et Df. Enns, LYAPUNOV STABILITY ANALYSIS OF DAISY CHAIN CONTROL ALLOCATION, Journal of guidance, control, and dynamics, 19(6), 1996, pp. 1226-1230
A demonstration that feedback control of systems with redundant contro
ls can be reduced to feedback control of systems without redundant con
trols and control allocation is presented. It is shown that control al
location fan introduce unstable zero dynamics into the system, which i
s important if input/output inversion control techniques are utilized.
The daisy chain control allocation technique for systems with redunda
nt groups of controls is also presented. Sufficient conditions are giv
en to ensure that the daisy chain control allocation does not introduc
e unstable zero dynamics into the system. Aircraft flight central exam
ples are given to demonstrate the derived results.