LQR Autopilot with Integral Feedback Based on System Identification

A project I have been working on aimed at designing an LQR autopilot with integral feedback based on system identification. The primary objective was to ensure the F-16 could navigate to various waypoints with different coordinates while maintaining stable flight conditions.
The system identification method was used to obtain the stability and control derivatives, enabling us to derive the linear state space model of the F-16 fighter jet. I did my bachelor's thesis on this topic as well.
The state space model of the F-16 was then utilized to tune a Linear Quadratic Regulator (LQR) with integral feedback, aiming to control the aircraft effectively. The model, controller and navigation algorithm were developed in the MATLAB/Simulink environment, and FlightGear was employed to visualize the aircraft's motion.
The control of the aircraft is obtained through 4 main inputs:
Constant Velocity Input: Ensures the aircraft maintains a steady speed throughout its flight.
Zero Side-Slip Input: Minimizes side-slip angle for efficient and coordinated turn, promoting stability.
Guidance Algorithm based Roll Rate Input: Manages the aircraft's roll rate to roll to a desired manoeuvre plane.
Guidance Algorithm based Acceleration Input: Based on current roll angle and altitude command, pitches to pull desired G’s of acceleration.
Some useful references and links that I used for this project:
Aircraft Model: E. A. Morelli, "Global non-linear parametric modelling with application to F-16 aerodynamics"
Controller for supermaneuverable aircraft&LQRI:
Aircraft Control and Simulation: Dynamics, Controls Design, and Autonomous Systems, 3rd Edition. Chapter 4.5: Control Augmentation Systems
Acceleration Control:
• Acceleration Tracking ...
LQR with Integral action applied to F-16: Heidlauf, Peter, et al. “Verification Challenges in F-16 Ground Collision Avoidance and Other Automated Maneuvers.”
State Space Equations and System Identification: Lichota, Piotr. “Multi-Axis Inputs for Identification of a Reconfigurable Fixed-Wing UAV.”
FlightGear Visualization:
• Visualizing the State ...
RL F-16&Mapping Visualization: lnkd.in/d75yVBWN