Design of a 4D Trajectory Tracking Controller with Anti-Windup Protection for Fixed-Wing Aircraft

This work contains the design and test of a control scheme for a fixed-wing aircraft to track 4-dimensional waypoints. The controller scheme is a multi-loop design that consists of an inner controller synthesized with the h-infinity loop-shaping method and an outer controller synthesized with the PID method. Multiple inner-loop controllers are synthesized in a state-machine configuration as a measure against saturation windup.