Adaptive Augmentation of Incremental NDI Laws with Systematic H∞ Synthesis
Giulio FRANCESCHINI, Giorgio RAOS, Giovanni GOZZINI, Davide INVERNIZZI
Abstract. Incremental Nonlinear Dynamic Inversion (INDI) is a promising control framework for systems characterized by significant nonlinearities and uncertainties, such as high-performance aircraft. However, the capabilities of INDI control are limited by its sensitivity to noise, delays, and modeling errors, which hinder its industrial adoption and certification. This paper presents an adaptive INDI extension with systematic synthesis capabilities, thereby enabling formal verification of performance and robustness, and paving the way toward certifiable INDI flight control systems.
Keywords
Flight Control System, Incremental Nonlinear Dynamic Inversion, Adaptive Control, Automatic Tuning
Published online 7/20/2026, 6 pages
Copyright © 2026 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA
Citation: Giulio FRANCESCHINI, Giorgio RAOS, Giovanni GOZZINI, Davide INVERNIZZI, Adaptive Augmentation of Incremental NDI Laws with Systematic H∞ Synthesis, Materials Research Proceedings, Vol. 69, pp 874-879, 2026
DOI: https://doi.org/10.21741/9781644904251-154
The article was published as article 154 of the book CEAS – AIDAA Conference 2025
Content from this work may be used under the terms of the Creative Commons Attribution 3.0 license. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
References
[1] S. Sieberling, Q.P. Chu, J.A. Mulder, Robust Flight Control Using Incremental Nonlinear Dynamic Inversion and Angular Acceleration Prediction, Journal of Guidance, Control, and Dynamics, 33 (2010) 1732–1742. https://doi.org/10.2514/1.49978
[2] P. Bhardwaj, V.S. Akkinapalli, J. Zhang, S. Saboo, F. Holzapfel, Adaptive Augmentation of Incremental Nonlinear Dynamic Inversion Controller for an Extended F-16 Model, in: AIAA SciTech Forum, San Diego, CA, USA, 2019. https://doi.org/10.2514/6.2019-1923
[3] J. Han, From PID to Active Disturbance Rejection Control, IEEE-Transactions on Industrial Electronics 56 (2009) 900–906. https://doi.org/10.1109/TIE.2008.2011621
[4] P. Apkarian, D. Noll, Structured H_∞ Control of Infinite-Dimensional Systems, International Journal of Robust and Nonlinear Control 28 (2017) 3212–3238. https://doi.org/10.1002/rnc.4073
[5] MathWorks, Inc., Tuning of Gain-Scheduled Three-Loop Autopilot, MATLAB & Simulink Documentation, accessed November 9, 2025. Available: https://it.mathworks.com/help/slcontrol/ug/tuning-of-gain-scheduled-three-loop-autopilot.html
[6] G. Raos, Enhancing Incremental NDI Control with L1 Adaptive Augmentation in a Longitudinal Autopilot, M.Sc. thesis, Politecnico di Milano, Milan, Italy, 2024.
