Patent ID: 8165733

Claim:
An aircraft control method for commanding at least one control surface based on a pilot command and an augmentation command, the method comprising: computing, with at least one processor, a control law reference command δ law , wherein the control law reference command δ law is a function of a position of a pilot inceptor, wherein δ i is a measurement of a pilot inceptor position sensor that senses the position of the pilot inceptor; computing, with the at least one processor, a feed-forward command Δ FF , wherein the feed-forward command Δ FF is proportional to the control law reference command δ law , such that the feed-forward command comprises Δ FF =G FF δ law , wherein G FF is a gain; computing, with the at least one processor, an integral feedback command Δ I , wherein the integral feedback command Δ I is a gain G I multiplied by an integral of an error e , wherein under at least a first condition error e=δ law −α, wherein α is an angle of attack measured by an angle of attack sensor, and δ law is the control law reference command, such that, Δ I ⁡ ( t ) = G I ⁢ ∫ 0 t ⁢ e ⁡ ( τ ) ⁢ ⅆ τ , wherein t is time, and wherein under at least a second condition the error is e=δ law −θ, where θ is a pitch angle measured by an inertial sensor, and δ law is the control law reference command; and commanding the at least one control surface based on the pilot command and the augmentation command Δ, wherein the augmentation command Δ is a summation which comprises the feed-forward command (Δ FF ), the integral feedback command (Δ I ) and a state feedback command (Δ SF ).