SITL System Identification p-rate (jmavsim)

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• [x] Select a linear model for rate dynamics.
• [ ] Estimate model parameters using least squares methods.
• [ ] Design the compensator by hand.

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The linear model used for the p-rate dynamic for the quardotor in the jmavsim simulator can be estimated using the following model:

$$\dfrac{P(s)}{U(s)}=ke^{-\tau s}\left(\dfrac{Ts+1}{aTs+1}\right)\left(\dfrac{1}{I_{xx}s}\right),$$

with:

• $0<a<1$ is a lead compensator,
• $a>1$ is a lag compensator.

O protótipo do modelo utilizado é:

$$\dfrac{P(s)}{U(s)}=Ke^{-\tau s}\left(\dfrac{s+a}{s+b}\right)\left(\dfrac{1}{s}\right),$$

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Use the same data used to obtain the frequency response to fit the model parameters.

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I was trying to use a Lead compensator, but:

• I should try to use a Lag compensator and try to fit its parameters using MSR (Minimum-Square-Root) method.
• or, design the Lag compensator by hand.

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