Automated Parameter Optimization of an Incremental Inversion Controller Considering Robustness Requirements

Automated Parameter Optimization of an Incremental Inversion Controller Considering Robustness Requirements | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Automated Parameter Optimization of an Incremental Inversion Controller Considering Robustness Requirements Denis Surmann, Stephan Myschik This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6340019/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper presents an automated parameter optimization framework for an Incremental Nonlinear Dynamic Inversion (INDI) controller, developed for an electrically powered vertical take-off and landing (eVTOL) fixed-wing aircraft equipped with a tilt-propulsion system. The tuning of the error controller is conducted across various operating points within the flight envelope, with particular emphasis on the transition phase between hover and forward flight—where actuator effectiveness changes significantly. The optimization process is designed to improve control performance by systematically adjusting controller parameters while meeting robustness and tracking performance requirements. Furthermore, it explicitly accounts for system delays and the effects of discretization. The resulting controller is validated through nonlinear simulations to ensure stability and reliable performance across the vehicle's operating conditions. Incremental nonlinear dynamic inversion robust control controller optimization automated gain design Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6340019","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":447403781,"identity":"818bc1be-04c1-436c-9e52-10bb06f01b82","order_by":0,"name":"Denis Surmann","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA5klEQVRIiWNgGAWjYDCCA2AEAxUMDGwSQJqHeC1niNSCAIxtQIKQFr7jvQcP/mCoS9w+7fCzx4XzDufxSfcYMLypwK1F8sy5hMM8DIcT59xOMzeeue1wMZvMGQPGOWdwazG4kWNwGOi8xBnSCWbSvNsOJ7ZJ5G5g5m3Do+X+GwOww2ZIp3+T5p0D0/IPny08Bgd4GJiBWnKAtjTAtDTg8wvQYTwGh42BWsqkeY6lJ7bJnP9wcM4x3Fr4jp8x/vijok4W6LBt0jw11onzZ7clPnhTg1sL1Hlo/AOENIyCUTAKRsEowA8AdCBTfttNl58AAAAASUVORK5CYII=","orcid":"","institution":"Bundeswehr University Munich","correspondingAuthor":true,"prefix":"","firstName":"Denis","middleName":"","lastName":"Surmann","suffix":""},{"id":447403782,"identity":"8daa4fa6-438d-406d-9205-c1f02c056268","order_by":1,"name":"Stephan Myschik","email":"","orcid":"","institution":"Bundeswehr University Munich","correspondingAuthor":false,"prefix":"","firstName":"Stephan","middleName":"","lastName":"Myschik","suffix":""}],"badges":[],"createdAt":"2025-03-30 19:23:11","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-6340019/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-6340019/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":84495064,"identity":"8aa6fbc5-80ce-4a26-89b7-2b2a55177185","added_by":"auto","created_at":"2025-06-12 15:24:03","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":2055015,"visible":true,"origin":"","legend":"","description":"","filename":"CEASJournal.pdf","url":"https://assets-eu.researchsquare.com/files/rs-6340019/v1_covered_45576614-824f-4352-935b-65c4083981eb.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Automated Parameter Optimization of an Incremental Inversion Controller Considering Robustness Requirements","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Incremental nonlinear dynamic inversion, robust control, controller optimization, automated gain design","lastPublishedDoi":"10.21203/rs.3.rs-6340019/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-6340019/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eThis paper presents an automated parameter optimization framework for an Incremental Nonlinear Dynamic Inversion (INDI) controller, developed for an electrically powered vertical take-off and landing (eVTOL) fixed-wing aircraft equipped with a tilt-propulsion system. 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