Chapter 4
Demonstration Examples4.1 The Himat Example
The following demo can be run by executing the following Xmath command:
execute file = "$XMATH/demos/xMu/himatdemo"
4.1.1 Problem Description
The Himat is a small scale remotely piloted aircraft built to investigate high
maneuverability fighteraircraft design. The vehicle was flight testedin the late 1970s.
The example studied here considers control of only the longitudinal dynamics. These are
taken to be uncoupled from the lateral-direction dynamics. The nominal model and
control objectives are described by Safonov et al. [82]. Further details can be found in
the work by Hartman et al. [83] and Merkel et al. [84]. The vehicle is currently attached
to the outside wall of the Museum of Science in Los Angeles.
A four state rigid body model describes the dynamics. The states can be assigned the
following physical meanings,
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