Real-Time Fixed-Order Lateral 𝐻₂ Controller for Micro Air Vehicle

Table 1

Plant poles at different operating points.

Speed	Poles in 𝑤-domain	Damping	Frequency, Rad/sec	Mode
16 m/sec	−0.138±5.92𝑖	0.0233	5.92	Dutch Roll
	−2.27	1	2.27	Roll Subsidence
	−0.436	1	0.436	Spiral
18 m/sec	−0.27±6.63𝑖	0.0432	6.63	Dutch-roll
	−2.40	1	2.40	Roll Subsidence
	−0.415	1	0.415	Spiral
20 m/sec	−0.394±7.35𝑖	0.056	7.36	Dutch-roll
	−2.55	1	2.55	Roll Subsidence
	−0.393		0.393	Spiral
22 m/sec	−0.51±8.07𝑖	0.0657	8.08	Dutch-roll
	−2.71	1	2.71	Roll Subsidence
	−0.37	1	0.37	Spiral
24 m/sec	−0.622±8.8𝑖	0.0731	8.81	Dutch-roll
	−2.88	1	−2.88	Roll Subsidence
	−0.348	1	0.348	Spiral
26 m/sec	−0.728±9.53𝑖	0.0789	9.55	Dutch-roll
	−3.06	1	3.06	Roll Subsidence
	−0.328	1	0.328	Spiral