Control of a bank-to-turn (BTT) missile with saturating actuators

In this paper, a method is presented for enhancing the performance of a stable EMRAAT bank-to-turn (BTT) missile in the presence of multiple saturating actuators. The method involves the design of a saturation detection system, called an error governor which maintains, to the extent possible, the multivariable properties of the original autopilot design. The system prevents saturation, ensures finite-gain L^∞ stability, and maintains, to the extent possible, the directionality properties of the original autopilot.