Online Identification and Control of Guiding System
Based on Inverse System

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. INTRODUCTION
The analysis and design of a nonlinear system are more
complicated and difficult than those of linear system. A simple
way is to convert the nonlinear system into a linear one, and
design the control system with linear system theory. The exact
linearization method with the differential geometry [1] is a
power tool to design the control system for a class of
nonlinear system. But it needs strict conditions and has
a complicated structure. The basic idea of the inverse
system method is to compensate a nonlinear system as a linear
system with the inverse system of the objective


. CONTROL ALGORITHM
The mathematic model of the guiding system is a
nonlinear, time-varying, and multivariable system. The partial
couplings between each control channel and the gravitation
influence are treated as the interference item of the
time-varying parameters. The influence of unmodelled error is
eliminated with robust adaptive control method. The
mathematic model of pitching channel is showed as follow.
The yawing channel has the same structure and it will not be
presented in the paper.



INTEGRATING INVERSE SYSTEM WITH PARAMETER
IDENTIFICATION
For the pitching channel and yawing channel, the
guiding system can be converted into an approximate linear
system with integrating inverse system method with
parameter identification. The structure of the system is
showed in Fig.1. where, u(k) (control signal of missile
rudder) is input signal of the system.