Lyapunov-constrained eigenstructure assignment for the design of robust mode-decoupled roll-yaw missile autopilots

A generalized eigenstructure assignment procedure for desinning an output feedback controller which has the best eigenstructure achieveable while simultaneously maintaining stability robustness to time-varying parametric variations is presented. The approach taken is the constrained minimization of the difference between the actual and desired eigenstructures. This minimization is made subject to the constraints of the eigenstructure equation and the closed-loop Lyapunov equation. The capability of the formulation is illustrated in the design of a mode-decoupling roll-yaw autopilot for a generic nonaxisymmetrical airframe