AIA

AIAA-2002-4704

System IDentification
Programs
for AirCraft
(SIDPAC)

Eugene A. Morelli
NASA Langley
Hampton, VA

AIAA

Research

Atmospheric
August

For permission

Center

to copy

or to republish,
1801

Alexander

Flight Mechanics

5-8, 2002 / Monterey,

contact
Bell Drive,

the American
Suite

Institute

500, Reston,

VA,

Conference
CA

of Aeronautics
20191-4344

and Astronautics,

AIAA-2002-4704

S_YSTEM

IDENTIFICATION

PROGRAMS

Eugene
NAb)/Langley
Hampton,

FOR

USA

Abstract

Center
23681

and

of

computer

programs

system

identification

is described

The

programs,

collectively

IDentification

Programs

developed
has been

used

Center

with

at NASA
many

and

routines

wind

conditioning,

tunnel
for

data

frequency

Langley

equation-error
in

real-time

the

and recursive

estimation,

low order

equivalent

estimated

parameter

error

nonlinear

simulation,

plotting,

system

been

to

have

output-

written

and
how

to

and effort
does,

best

the methods

linear

S_S_S__stem
IDentification
SIDPAC,

and

is a collection
of system

identification

This

describes

the routines

flight
test data from the NASA
aircraft.
The SIDPAC
software

and demonstrates

software

U.S.
on

citizens
the

usage

by

visualization.

Glenn
Twin
Otter
is available
without

request

requestor

to

the

author,

NASA

completing

agreement.

systems

on
is

When

the

models

are generally

outputs,
the

system

be

system

data

volume

identification

system

modeled

dynamic

of

with

is

an

multiple

are noisy.
is

SIDPAC

substantial,

tasks

require

aircraft,
inputs

is easy

precision
make

and

implementing

and program.

functions

plotting,

and

Copyright 2002 by the American Institute of Aeronautics and

Astronautics, Inc. No copyright is asserted in the United States
under Title 17, U.S. Code. The U.S. Government has a royaltyfree license to exercise all rights under the copyright claimed
herein for Governmental purposes. All other rights are reserved by
the copyright owner.

SIDPAC

on
The

Institute

in

language

linear

also has

algebra,
and

data

uses

double

characteristics
choice
for

algorithms.
implemented

the

are

in TDPAC

in the open
References

algorithms

references

are

literature.
contain

implemented
grouped

in

according

their
relevance
to
addressed
in SIDPAC.

system

identification

Development

of SIDPAC

occurred

to

problems

over

a period

of approximately
10 years at NASA
Center.
The author wrote and tested

Langley
Research
all of the SIDPAC

routines.

in

Most

of

1
American

for

in
in

subroutine

arithmetic
by default.
These
MATLAB

an
excellent

information

test data

written
function

MATLAB

on information
available
documents
listed
under

SIDPAC.

Research Engineer, Senior Member AIAA

e-mail: e.a.morelli@larc.nas a.gov

in SIDPAC

flight

debugging,

All of the algorithms

based
The

of

problems

is a platform-independent

built-in

the

computers

a real

that

to aircraft.

included

using

is the
analog
or a function
in C.

to learn

or

most

applied

As a result,
and

for solving

MATLAB
FORTRAN

analysis,

identification.

of methods

or

programs

All SIDPAC
programs
were
as m-file functions.
An m-file

many

physical

observations

as

and the measurements

required

aircraft

to

models

imperfect

known

and

for AirCraft,

example.
MATLAB

that

mathematical

based

measurements

paper

MATLAB

Introduction
Developing

to the

the program

implemented,

computer

a variety

to

limited

a particular

what

Programs
of

in the area

contingent

have

is in addition
are

implement

charge

The

different

the results.

An overview
of SIDPAC
capabilities
is provided,
along
with a demonstration
of the use of SIDPAC
with real

3-D

the

can be required

operate

in learning

interpret

of

to

parameter

identification,

calculation,
and

many

effort

type

developed.

and effort
and

and

suited

among

and

This

how

was

scattered

involved

how to properly

a specific

compile

the

in FORTRAN,

address

time

aircraft
over

methods

people,

Significant

for

developed

the program
are

competently.

actually

and

been
to

for which

programs

been

using

programs

learn

time

computer
have

designed
usually

program

model
time

have

availability.

data

and

both

most

organizations

SIDPAC

analysis,

but

existing

test

design,

years,

application

Research
flight

experiments.

estimation

were

Many

identification

problem,

SIDPAC

different

compatibility

domains,

S_S_S__
stem

or SIDPAC,

experiment

determination,
parameter

demonstrated.

functions.

successfully

includes

error

as m-file

from

aircraft

called

data

programs

structure

and

for AirCraft,

in MATLAB

for

2199

software.

system
A collection

(SIDPAC)

A. Morelli
Research

Virginia

AIRCRAFT

of Aeronautics

and Astronautics

the

routines

SIDPAC

were

originally

coded

translated

and

have been

used

continues

to

as m-file
adapted
for many

be

for system

various

flight

but

SIDPAC

at NASA

were

codes

that

has been

Langley

identification
test

a few

FORTRAN

years.

used

Center

functions,

from

applied

programs

and

tunnel

experiments.
Software
tasks

tools

for specific

are implemented

functions,
functions.

which
The

routine

includes

calling

syntax,

few

MATLAB

Processing

Toolbox

sold by
includes
There
to

toolboxes

there

C compiler
therefore

C mex

routines

available

a complete

release

any

5.2,

computer

Since
toolbox,

tasks,

user.

11,

and

problems

tested

analysis

6.1,

like

hardware

SIDPAC

properly

5.2

much

or

the

that

purposes

system

effective.

for

The
here

descriptions

apply

version

to SIDPAC

as

software
e-mail

of

this

was

sent

just prior
Calling

header

of

MATLAB
help

each

and

SIDPAC

command

window
All

.m

language,

file

m-files

extension.
so the

in SIDPAC,

be

from

the

and

link
the

code

with

no

commands.
correct

comment

calling

header

initial

data

not

reduction,

individually
forces

these
or

from

the

the analyst

are being

used

to

and how

system

good

of

a
an

m-files.

section.

The

requirement
syntax
to

can

resulting

Institute

m-file
of

of Aeronautics

in

custom

MATLAB

problems,

script

using

for

calls

to

in the Examole

can be used

maneuvers,

data

to automate

and has the added

documenting

the

data

analysis

process.

The

functions

that

comprise

SIDPAC

are

categorized

to functionality.
m-files

create

This is demonstrated

for different

capabilities
of the

to

scripts

identification

of completely

according

the

matter

modeling

and modeling

execute

simple

SIDPAC

benefit

directly

directly

the analysis

the
is

is

results.

appear

2
American

for

complicated

This

methods

a GUI

and
are so

particular

have

To

of

called

line.

outputs,

and the problems

the

be

and
analysis,

and

name

runs

inputs
data

analysis

to typing

the

for

Beyond

the

in the

MATLAB
source

environment,

compile

any m-file
copied

is

SIDPAC

must

signal

analysis.

very

after

aid the

in

displayed

filename

either

that

conversion,

obtaining
It

in response

of

Instead,

via

material

are

of

way

users

latest

of this paper.

descriptive

in the

(GUI)

as unit

development

of what

system

Because

the methods
are implemented.
This level of contact
with
the
methods
and
software
is essential
for

version

SIDPAC

Interfaces
such

is so broad,

command

be cognizant

every

case.

much

has

it is only

1.1

is the

SIDPAC

m-file

where

interpretive

MATLAB

release

included

1.1, which

to all registered

m-file.

for explicit

version

to public

customary

in the

demonstrations

writing.

syntax

filename,

specific

and

and

problem

that

compatibility

be

m-files

MATLAB

selected

analysis

a wide
variety
of
system
as individual
m-files.
SIDPAC

Therefore,

SIDPAC

say

of choices

the

would

of

Therefore,

transformations,

methods

diverse,

as

spectrum

short
does.

decision-making.

User
data

forms,

modeling

higher.

same

the

the

and discussed.

include

or

tasks

and

model

on

MATLAB

and operating

are

this,

personal

work

MATLAB

very

definition,

with
m-file

identification
to

SIDPAC
implements
identification
methods

under

system

test data

is a special
not

Graphical

of

each

it unique.

problem

in routine

and

in several

applications

exaggeration

automated

Spartan.

overview
along

what

system

does

are

C Overview

every

SIDPAC

for

so error

documented

categories,

are presented

that makes

this,

like,

an

to real flight

aspect

slight

the

m-files

of

Nearly

analyst

written

release,

fully

example

modeling

if a

built-in

MATLAB

will

problem
this,

identification

is

with

originally

gives

descriptions
in SIDPAC

executed

for public

by listing

routines

some

system

standard

and

section

software

but

SIDPAC

for aircraft

the

software

for

commented.
next

not

SIDPA

in SIDPAC

IBM-compatible

the computing

requirements
MATLAB .

liberally

includes

an

is

is

Following

user.

that can be used

only

running

SIDPAC

and

software

identification

Signal

to the

certain

to the

release

SIDPAC

interface,

the

Toolbox,

included

for

developed

on

the

Systems

set of programs

was

12.1,

computer.

files

are alternate

SIDPAC

from

available

speed

identification,
requiring
MATLAB functions.

MATLAB

not

processing
is not

user

However,

narrative

and
use

were

handling,

The

of inputs
history,
makes

m-files
and

Inc.,
but SIDPAC
also
that can be used if these

are

are also a few

increase

again,

routines

and the Control

The
MathWorks,
alternate
routines

MATLAB

descriptions

and modification
routines.
SIDPAC

SIDPAC

SIDPAC

m-file
SIDPAC

then

purposes

m-file

supporting
for each

line,

research

identification

as individual

may
call other
comment
header

and outputs,
the creation
a list of called SIDPAC
of

system

in SIDPAC

command

return.

The

from

wind

carriage

Research

to data

and

MATLAB

and Astronautics

Short
below

narrative

each

the

main
below

descriptions

category

heading.

Them-filesdescribed
hererepresent
onlya partial
listingofthecontents
ofTDPAC.

fint.m

Data Analysis
accel

cor.m

- Corrects

from

the sensor

location

axcnv.m

coordinate

system.

Finds

accelerometer

vector

-Draws

chirpz.m
transform.

Computes

fixdrop,

c.g.

hsmoo.m

components

in

Bode

plots

using

a rotated

for

the

chirp-Z

discrete

two time series

and

and their

time

series

Scales

so their

removes

waveforms

biases

compzsd.m

from

of noisy

and the Wiener

correl.m

a smoothed

time

filter

series

two

time

corx.m
correlation

- Computes

time

using

series,

cubic_dtrend.m
time

cutItd.m

manual

cutting

Fourier

cubic

dox.m

domain.

derivative
polynomial

Computes

parameter

of noisy

time

the

definition

endpoints

least

for a noisy

squares

a cubic

test

Transform

algorithm).

estlag.m

- Estimates

an

optimal

density

for

shift between

two

correlation.

detrend

random
function

and

implements

data

lengths.

smoothed

series

numerical

using

local

without

least

transform

using

Fast

mksqw.m

delay

time
series,
using
the maximum
slope
method described
in MIL-STD
1797A.

for

Cram6r-Rao

bounds

and

experiment

designs

for

linear

or

logarithmic

a sum

of

sine

waves

with

and frequencies.
white

or

arbitrarily

an

alternating

colored

inputs.
-

Generates

amplitudes

- Generates

Compatibility

square

and pulse

a Schroeder

wave

widths.

sweep

input.

Analysis

time
a irch k. m - Checks

squares

the compatibility

accelerations,

sideslip

angle,

of measured

body-axis

and angle

angular

data
rates,

of attack.

using

compat.m

Fourier

between

from

Estimates
measured

output-error

dcmp.m

projection

-Integrates

data compatibility

maximum

error

time-domain

likelihood.

aircraft

of Aeronautics

kinematic

equations

for

analysis.

Applies
to measured
data.

3
Institute

instrumentation
input-output

two

sens_cor.m
corrections

American

endpoints

input.

arbitrary

mksswp.m

data, using
time

modern

Generates

for translational
Fourier

the

- Generates

noise

parameters
the pure

smoothed

modeling.

amplitudes

mkrdn.m

fit.

data

the discrete
(i.e.,

time
cross

Generates

mkrandss.m

fits to the data.

- Computes

for a measured
and

spectral

the relative

Generates

sweep

airspeed,
dIt.m

power

time-domain

surface

mkfswp.m

regressor

test maneuver
a

that

series.

Design

response

Data

deriv.m

noise

analysis

- Computes
time series.

input with

flight

from

band

in a time

time
analysis

normalized

smoothed

of flight

signal

compcrb.m
- Computes
the information
matrix.

series.

Plots

using

Experiment

random

- Computes

for a noisy

measured

applied

estimated

the

a local

frequency

of the power

Fourier

- Estimates

frequency

Computes
matrix.

csrnep.rn
series

the

force

numerical

using

in the frequency

Computes
matrix.

correlation

applied

non-dimensional
on measured
data.

- Computes

derivative

filtering

can be compared.

- Computes
non-dimensional
based on measured
data.

compmc.m
Computes
moment
coefficients
based

low-pass

difference.

xsmep.m
compfc.m
coefficients

the

fraction

- Computes
time series.

tshiff.m
cmpsigs.m

time

Fourier

spect.m
- Plots

a posteriori

- Separates

measured
cmpplt.m

Fourier

measured

data dropouts.

Computes

a given

finite

using

smoothing.

time
series,
using
Wiener filter.

plots.

Computes

fixes

weight
-

contains

general

high-accuracy

-Implements

fixed

smoo.m

Bode

frequencies,

-Manually

pwrband.m

bodecmp.m
- Compares
transfer
function
models.
bodeplt.m

measurements

to the aircraft

integral
for arbitrary
series data.

and Astronautics

instrumentation

error

rotchk.m

- Checks

for body-axis
Model

angular

Structure

gsorth.m

regressors

the compatibility
rates

of measured

and Euler

least

data

angles.

Determination

Generates

using

a set

of

Gram-Schmidt

mutually

squares

conventionally

colores.m

errors

post-processing

by

maximum

orthogonal

The

orthogonalization.

- Identifies

measured

input-output

stepwise
and

regression,

error

input

This

the analyst

frequency-domain
-

measured

with

This

time-domain

are

testing

can

structure.
so
or

Estimates

a linear
routine

data,

so the same

can

be run

from

data,

and

partial

structure

be used

regression

with

routine

or frequency-domain

statistic

for

either

real

the

or complex

step for multi-dimensional

parameter

optimization,

computes

the cost gradient

and information

oe.m

Estimates

- Computes
model

measured

input-output

output-error

senest.m

- Computes

and

from

data

using

This

definition

m-files

estimates

multi-dimensional
function

the

parameter

simplex

optimization

routine

r_colores.m
covariances

- Computes
of

the

regression

fdoe.m

that

can

estimated

parameters

estimates

the

problem,

of

associated
in

the

a recursive
version
of

using

sections

version

of data.

batch
This

of lesq.m.

using

tfest.m

finite

method

for

without

cost

using
bounds

for the

in a linear

fint.m

the

Estimates

same

technique

time

parameter.

Institute

of Aeronautics

and Astronautics

routine

in a transfer

compute

using
is the

frequency

high-accuracy

finite

frequencies.
in

function
as in

is used

function

in the

parameters

transfer

approach

relaxation
delay

to

from

data

This

equation-error

for arbitrary

system

parameters

of oe.m.

parameters

using

integrals
-

likelihood.

equivalent

- Estimates
and

model

frequency-domain

maximum

structure,

Fourier

Estimation

dynamic

input-output

4
American

as

Fourier

equation-error

Parameter

- Estimates

output-error

be

Bounds
Cram6r-Rao

and

to sequential

Domain

Ioest.m
Error

discrete

real-time

using

is the sequential

measured

uses

gradients.
Parameter

recursive

sequential

applied

equivalent
Estimated

results

- Computes
equation-error
model parameter
and covariance
matrix
estimates
for a linear

domain
Implements

colores.m,

same

regression
problem,
using
This routine
is the recursive

squares

model
-

of

the

- Computes
equation-error
model parameter
and covariance
matrix
estimates
for a linear

routine

differences.
simplex.m

the
series.

parameters

frequency-domain
sensitivity

version

and gives

Estimation

matrix,

formulation

parameters

likelihood.

general
dynamic
model
linear or nonlinear.

test

represent

matrix.

time-domain

maximum

flight

accurately

domain.

Frequency
model

faster

dynamic

slesq.m
estimates
Newton-Raphson

dynamic

repeated

lesq.m.

for time-domain

modified

as

likelihood

Corrected
parameter
standard
are consistent
with the scatter in

Vectorized

Computes
of a time

least squares
formulation.

Estimation

Computes

that

not white,

uncertainty.

rtpid.m

least

mnr.m

fact

maximum

from

Parameter

rlesq.m
estimates

parameters

data.

Parameter

much

frequency

formulation.

can be used

m_colores.m

colored,

therefore

parameter

covariance

Estimation

squares

and

(oe.m).

practical

or

determination.

model

estimates

which runs
colores.m.

the

output-error

maneuvers,

rft.m transform

model

autonomously

the

output-error

estimation

for

are usually

parameter

Real-Time

from

the

in

estimated

bounds.

generated

identify

equation-error

least

This

to

models
error

functions

the

in model

Parameter

Output-Error

interactive

from the analyst.

Computes

Equation-Error

and

used

routine

hypothesis

basis

input

pfstat.m

using

multivariate

estimates

data

interactive

lesq.m

requires
the model

residuals

standard

from

parameter

accounts

both

residuals.

parameter

results

theoretical
formulation.
errors from colores.m

estimates

formulation,
for colored

corrected

likelihood

assumed

squares

parameter

routine

general

orthogonal

structure.

least

from

either real or complex

data,
be used
for time-domain

parameter

Multivariate

using

to identify

input-output

computes

models

data.

Identifies

measured

the

data

routine can handle

same
routine
can

offit.m

multivariate

and computes

bounds.

from

The
the

general

Computes

correction

output-error

swr.m

regression
and accounting

tfest.m,

to estimate

model

low

order

structure,

except

that

the equivalent

Utilities

regcor.m
- Computes
correlations.

and displays

pairwise

regressor

abg.m- Implements
third-order
Adams-Bashforth
reggen.m
Generates
multivariate
polynomial
numerical
integration.
regressors.
adambg.m
- Versionof abg.musedin parameter
rms.m - Computes
root mean square of the elements
estimation
algorithms.
of a vector.
adamb3.c
- C mex-fileversion
of adambg.m
used
second-order
Runge-Kutta
for highspeedcomputation
in parameter
estimation rk2.m - Implements
numerical
integration.
algorithms.
buzz.m- Addswhitenoisetoatimeseries.
runk2.m
- Version
of rk2.m
used
in parameter
colnse.m
noise

- Adds

a selectable

and band-limited

noise

combination

to a time

estimation

of white

algorithms.

runk2.c

series.

C mex-file

parameter
comfun.m

polynomial

.m

int2.m
intg.m

the

value

of

rk4.m

- Applies

a dead band

to a time

one-dimensional

linear

interpolation.

-Does

two-dimensional

linear

interpolation.

three-dimensional

Ioadflat.m

- Reads

MATLAB

workspace.

massprop.m
of inertia

linear

a general

ASCII

aircraft

Implements
integration.

runk4.m

estimation

algorithms.

runk4.c

flat

file into

spl.m

the

mass

singular

value

milstd.m

robust

- Computes

prediction
handling

matrix

estimation

according

values

inversion

handling

to MIL-STD

parameters

Displays

denominator
into
canonical
form.

To

using

plotsurf.m
models.
plot3d.m
linear

a selected

1797A,

a real

ratelim.m

time

the

a transfer
a state

- Makes

functional

and

runk4.m

used

in

shift to a time

series.

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function

mesh

parameter

95 percent
- Makes

form

and

in

flight

longitudinal
Twin

numerator

model

plots

and

Otter

with

observer

and error

bars

intervals.

surface

plots

3-D

plots

using

data

arranged

Computes
- Implements

aircraft,

high-quality

according

Glenn.

To use SIDPAC

put

data

unit

for

sum of squares

metric.

to

capabilities

of

and modeling

routines
into

a specific

quantity.

rate limits.

American

Institute

maneuver

convention

used

effectively,

the first

format
This

that

was

is a simple

calculations,

called

fdata

column

step is to

some

in the

MATLAB

is a GUI in SIDPAC
is invoked

GUI

to

quickly

plot

any

to make

by simply

window
2.

prompt.

The
of the

is assigned

There

use

of

and assembling

of the array

in Figure

of the

matter

which

is shown

and Astronautics

is a

equipped

at NASA

GUI

of Aeronautics

Otter

instrumentation.

command

Twin

aircraft

the

resulting
this

The

Glenn

quantities

each

sid at the MATLAB

from

NASA

for the example

expect.

easier,

the

file, with the measured

an array

where

1.

research

routine

workspace,

obtained

on

commuter

in a standard

conversions,
data

was

flown

test data

named
the

data

flight

flight

this process
predicted

and
analysis

see Figure

in an ASCII

SIDPAC

for polynomial

test

turboprop

available

the
- Makes

data

This example was chosen so that

elements
of SIDPAC
could
be

maneuver

twin-engine

for polynomial

estimates

confidence
3-D

use

test

demonstrated.

model.

space

3-D

the

flight

problem
is presented.
some
of the main

qualities

regression.

press, m -

of

parameter

functions.

demonstrate

The

representing

in

used

and boundaries.

for a polynomial

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plotpest.m

rk4.m

version

spline

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The

plotmesh.m
models.

Runge-Kutta

algorithms.

- Generates

SIDPAC,

longitudinal

qualities

model_disp.m
parameter

fourth-order

and moment

decomposition.

plots

in

Example

Computes

level

ocf.m

of

C mex-file

parameter

interpolation.

Version

data.

misvd.m

used

algorithms.

numerical

ulag.m

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runk2.m

series.

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-Does

estimation

of

ordinary

functions.

dband.m
intl

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version

analyst

typing
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can

workspace

variables,
convert
units,thenassign
theresultto the
appropriate
placeinthestandard
datamatrixfdata A
sidebenefit
ofthisprocedure
isthattheflighttestdata
isautomatically
checked
formissing
information
asthe
analyst
assigns
datatothechannels
inthestandard
data
matrixfdata In thisexample,
themeasurement
for
headinganglepsi was missing. However,this
measurement
is not neededfor longitudinal
data
analysis
andmodeling.
Forlarge-scale
flighttestdataanalysis,
thedata
reduction
andchannel
assignment
process
is typically
implemented
by creating
a script,sothatthe data
reduction
steps
canberepeated
automatically
foreach
maneuver.
A scriptis simplya textfile containing
commands
that could havebeenissuedat the
MATLAB
command
prompt.Thecommands
in the
scriptareexecuted
by typingthenameof thescript
file,omitting
thefileextension.
Scriptfilesmusthave
the.mfileextension.

required

problem-specific

MATLAB

command

GUI

is closed

using

the GUI.

or not),

then

Instrumentation
using output-error
selection
for the
by

simply

data

clicking

the

compatibility

and displayed
instrumentation
data

by

to

data.

the

corrections

implements

At

the

point,

Figures

button

in the
results

workspace.

the

from

Correct

Data

data after the

have
been

5 and

show

how

instrumentation

kinematic
related
the

found

a default
structure

estimation

rotational
corrections

estimated

outputs

this

be

can be removed

clicking

applied
applying

Errors

errors

the
current

the analysis

can

in the MATLAB

Figure
6 shows
instrumentation

the measured

with

Parameter

button.
estimated

the

the

parameters

Estimate

GUI.

are stored

measured

continue

error

in

(whether

parameter
estimation
and
instrumentation
error model

Estimated
the

commands
window

error

consistency

among

to the pitch rotation.

data

have

been

organized,

Theanalyst
clicksontheNextbuttontoproceed plotted, checked for data compatibility, and corrected
tothenextGUI,shown
inFigure
3,whichcanbeused using estimated instrumentation
errors.
The next steps
to cutthemaneuver
datalength.Thiscapability
is
vary
greatly
depending
on
the
goals
of
the
necessary
because
it iscommon
forthedatatoinclude investigation.
For this example,
a script was developed
morethanis necessary
fortheanalysis
anddynamic to implement and document the data analysis and
modeling.
Forexample,
theremaybelongstretches
of modeling process.
Figure
7 shows
a listing
of the
steady
trimwithnodatainformation
content,
orit may script. Space does not permit showing all of the results
bethatthepilotapplieda different
powersettingor
generated
from this script, but a short description
will
changed
theflightcondition
neartheendofthedata,
to be given here.
setupforthenextflighttestmaneuver.
Inthelatter
commands
in the script
plot the
case,the assumptions
for the modelingmay be measuredThe initial
data
and
compute
non-dimensional
violated,
sothispartofthedatamustberemoved.
The
aerodynamic
coefficients.
Next, body-axis
Z force and
CutManeuver
buttonallows
theanalyst
todefinethe pitching
moment
coefficients
are modeled
in an
beginning
andendof themaneuver
usinggraphical
equation-error
formulation
using
least
squares
(mouse)
ornumerical
(keyboard)
input.
regression
and
stepwise
regression.
Corrected
Clickingthe Next buttonagain,the analyst parameter error bounds are computed and displayed,
arrivesatthedatacompatibility
analysis
GUI,where along with the parameter estimates and confidence
the kinematic
consistency
of the measured
output intervals.
Modeling
is then
carried
out
in the
quantitiesis checked. Figure4 showsdata frequency domain, using a transfer function model and
compatibility
plotsofthemeasured
airspeed,
angleof
equation-error
parameter
estimation.
Following
this,
attack,andsideslip
angle,compared
to reconstructedoutput-error parameter estimation in the time domain is
valuesobtainedfrom integratingthe kinematic used with a dynamic model file implementing
the full
equations
usingtranslational
accelerations
andangular nonlinear
equations
of
motion
and
a
linear
ratemeasurements
asinputs.Theanalogous
check
on aerodynamic
model
to
estimate
non-dimensional
theEuleranglemeasurements,
usingthe rotational stability and control derivatives.
A prediction
case is
kinematic
equations
withangularratemeasurementincluded to demonstrate the validity of the identified
inputstoreconstruct
theEulerangles,
is shownwhen models and show the linear and nonlinear simulation
theanalyst
selects
therotational
optionfromthepull- capabilities.
Plots
of the results
appear
in the
downmenu
attheupper
rightoftheGUI,seeFigure
5.
MATLAB
figure
window
and various
displays
of
SIDPAC
possible
adversely

software

to enter
affecting

or exit
results.

was
any

designed
GUI
The

so

that

at any time
analyst

it

results

is

without

can issue

Figure

any

in the MATLAB

appear

comparison

shows

6
American

Institute

of Aeronautics

one

of the measured

and Astronautics

command
of

the

plots,

non-dimensional

window.
which

is

pitching

moment
coefficient
withtheidentified
equation-error
model.Table1 contains
parameter
estimation
results
forthiscase.

References

Data

Theentiredemonstration
scriptin Figure7 is
availablein TDPACas totterdemo.m. The
demonstration
canbe executed
by simplytyping
totter_demo
attheMATLAB
command
prompt.

Analysis

Bendat,

J.S.

and

Analysis

and

Measurement

John

Wiley

Gainer,
Concluding

T.G.

Used
A collection
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Programs

described

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analysis

of computer

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Center

in the course

system

identification.
STDPAC

at

of solving

wide

in

MATLAB

range

has

many
easy

to

for

linear

built-in

analysis,

debugging,
and

MATLAB

STDPAC

an

learn

plotting,

use

of

These

excellent

theory

methods

and

for

the

Identification
Practice,

and practical

Data

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to

by V. Klein

software

is

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of

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to the

completing

Requests

NASA

free

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NASA

contingent
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Morelli,

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the requestor,
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Functions,"

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TM

Error

John Wiley

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AIAA

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TP-1916,

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Fourier

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Structure

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to:

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a one-sentence

Characteristics
Optimal

Airplane

"Optimal

"Determination

mailing

Publications,

1991.

Draper,

agreement.

and company

of SIDPAC,

Morgan,

Conference,

Analysis,

purposes.

SIDPAC
technology

name,
number,

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Systematic

paper

Klein,

Please

Dover

of

R-179,

pp. 689-695.

Likelihood
1987.

Model

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e.a.morelli@larc.nasa.gov

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TR

of Aircraft,

Measured

January

August

requestor

be e-mailed

Analysis

Analysis

and

in

Mechanics

Research

to U.S.

and
NASA

Noise

Data

1995,

V.

AIAA

System

Langley

Test

Instrumentation

The SIDPAC

of charge

Data

1972.

1988.

Journal

Maximum

for

Theory

Morelli.

Wind-Turmel

Analysis,

NY,

Compatibility

Errors

make

entitled

Aircraft

and E.A.

and is available

are

of

of Motion

SP-3070,

"Estimating

Flight

Klein,

precision

considerations
text

Ed.,

data

implementing

in STDPAC

forthcoming

"Summary

Weights,"

Applied

York,

July-August

and

characteristics

choice

implemented
in

C.

Smoothing,"

algebra,

double

S.

"Determination

E.A.

from

algorithms.

described

Center,

the

default.

Relevant
the

functions

and

Smoothing
1963.

Morelli,

advantages,

platform-independence,

by

R.J.,

Lanczos,

system

MATLAB

many

arithmetic

was

of

common

program,
visualization,

Graham,

1986.

and Equations

NASA

Data
2nd

NY,

Hoffman,

Free-Flight
Analysis,"

Numerical
December

in aircraft

including
data

data

Research

real problems

York,

Equations

in

Random

Procedures,

New

and

Reduction

Inc., New

problems

environment.

Langley

A.G.

was

test

STDPAC

NASA

addresses

identification

flight

problem.

tested

S_S_S__stem

or SIDPAC,

on a real

modeling

and

called

for AirCraft,

demonstrated

& Sons,

Transformation

Remarks

Piersol,

and Astronautics

Nonlinear
to F-16

Paper

Parametric

Aerodynamics,"

ID i-98010-2,

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American

Pennsylvania,

Morelli,

E.A.

Modeling

and DeLoach,

using

AIAA

paper

Sciences

39 'h AIAA

and

Exhibit,

Morelli,

Surface

Functions,"
Aerospace

Reno,

NASA

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Maine,

R.E.

Iliff,

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of

and

Flight-Determined

"The

Theory

Accuracy

Coefficients,"

E.A.

and

Aerodynamic

of

NASA

and

Test

V.

and

Journal
Vol.

RP

Alto,

1077,

No.

from

August
E.A.

Finite

Fourier

NASA

TM

1, January-February

Morelli,

from

Sciences,
Klein,

July

Prog.

the

Aerospace

"Parameter

Aircraft

Symposium

Parameter

Aerodynamic

pp. 1-77.

E. A.,

Augmented

IFAC/IFORS

System

Aircraft

Data,"

1989,

V. and Morelli,

of a Highly
9th

of

Flight

Vol. 26,

from
on

Estimation,

R.E.

Parameter
Control
1168,

Iliff,

Estimation

June

110340,

Method
May

Jr.

to

"Application

Aircraft

of

Stability

Approach",

and

using

Iliff,

and

NASA

K.W.

Modified

Program,"

and

Klein,

Accuracy

of

Maximum

Estimates

with

Colored

Low

Order

Military

for

Design,

Data

CR

"Systems

MIL-STD-1797A,

Morelli,

E.A.,

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Colorado,

"Low

Aircraft,"
Flight
August

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of

in

Guidance,

23, No. 5, September-

Hunter,

W.G.,

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Hunter,

An

Analysis,

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Inc., New

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J.S.,

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Building,

NY,

John

1978.

E.A.,

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Likelihood

the

191462,

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Order

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Equivalent

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Piloted

System

with

Test

of Optimal

Conventional

Inputs,"

36, No.

M.R.

2, March-April

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"Synthesis

and

Binary

Inputs

and

Journal
1999,

1970,

of

of

pp. 389-

Low-Peak-Factor

Sequences

IEEE

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J.N.,

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Test

Flight

with

Transactions

Low

on Information

pp. 85-89.

Testing,"

A/AA

Ham,

Manual,

Edwards

93-14,

September

J.A.,

and

Rotorcraft

U.S.

Center,

Software

Supersonic

2000-3902,

Army

AFB,

Tischler,

Aviation

CA,

M.B.,

Frequency

Domain

Technical

AQTD

Test

Project

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MA,

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W.H.,

, Version

6, The

MathWorks,

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B.P.,

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University

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NASA

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Vol.

Theory,

1990.

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Optimization

Experiments,"

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the

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Autocorrelation,"

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NASA

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Parameter

TN D-6734,

Residuals,"

Flying

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Transport

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Domain,"

Experimenters

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G.E.P.,

Statistics

Williams,

Standard

Identification

Flight

MA,

RP

1994.

Equivalent

Identification,"

Atmospheric

Design

Schroeder,

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"Real-Time

and Dynamics,

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194893,

the

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1997.

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1972.
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Morelli,

- A Fortran

Morelli,

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Box,

and

Hungary,

1986.

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Palo

Evaluation

using

"In-Flight

E.A.,

Experiment

Data,"

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Budapest,

K.W.,

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L.W.,

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Conference,

Accuracy

98-4261,

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Taylor,

in

78-1344,

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Maine,

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Parameter

Domain

Estimation
Flight

1991.

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Data,"

Estimation

"Estimation

Parameters

2000.

Order

Test

1978.

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Morelli,
V.,

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Parameter

"High

paper

Mechanics
Klein,

Low

Flight

AIAA

Parameter

AIAA

Parameter

"Aircraft
Flight

CA,

Real-Time

Control

pp. 74-80.

Equation-Error

of

from

in the Frequency

Domain,"

Morelli,

of

Estimated

of Guidance,

20,

V.

Atmospheric

Dynamic

"Accuracy

Parameters

Data,"

Dynamics,

1997,

Klein,

Model

Estimation

Frequency

1981.

Flight

TM-2000-210117,

Klein,

K.W.,
the

Models

Nevada,

Bounds

Estimating

"Identification

System

Parameter

Parameter

Morelli,

E.A.

Equivalent

2001.

Estimated

July

"Response

Orthogonal

2001-0168,

Meeting

January

R.,

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and Astronautics

Teukolsky,
Recipes

S.A.,
The

(FORTRAN
Press,

Cambridge,

and

Art

Version),
UK,

1989.

of

Table 1 Twin Otter Equation-Error

Parameter

Modeling

Results

Estimate

Std. Error

-1.476

0.022

Cmq

-36.35

0.69

Cm_e (rad-1)

-1.869

0.020

Cmo

0.0023

0.0001

Cm_

(rad-1)

NASA Glenn Twin Otter

::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::_;_;_2.

Fibre2

SIDPAC Data Channel Assignment

GUI

9
American

Institute of Aeronautics

and Astronautics

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Fibre3

TDPAC Maneuver Length GUI

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Fi__mre4 TDPAC Translational Data Compatibility GUI
10
American Institute of Aeronautics and Astronautics

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SIDPAC

Rotational

Data Compatibility

GUI with Instrumentation

11

American

Institute of Aeronautics

and Astronautics

iiiiiiiiiiiiiiiiiiii

Corrections

Applied

%
% script totter_demo.m
%
% Usage: totter_demo;
%
% Description:
%
%
Demonstrates
flight data analysis and modeling
%
using SIDPAC for a longitudinal
flight test maneuver
%
on the NASA Glenn Twin Otter aircraft.
%
% Input:
%
%
None
%
% Output:
%
%
data file
%
2-D plots
%
%
%
%
%
%
%
%
%
%
%
%

Calls:
compfc.m
compmc.m
xsmep.m
lesq.m
r_colores.m
model_disp.m
swr. m
zep.m
tfest.m

%
nldyn_psel.m
%
oe.m
%
nldyn.m
%
m_colores.m
%
plotpest.m
%
tfsim.m
%
%
Author:
Eugene A. Morelli
%
%
History:
%
11 Jul 2002 - Created and debugged,
%
% Copyright
(C) 2002 Eugene A. Morelli
%

EAM.

% This program carries no warranty,

not even the implied
% warranty of merchantability
or fitness for a particular
purpose.
%
% Please
%
%
%

email bug reports

or suggestions

for improvements

to:

e.a.morelli@larc.nasa.gov

%
% Load the data file.
%
load 'totter
Ion 020213f1_018.mat'
%
% Set up the figure window.
%
FgH=figure('Units','normalized','Position',[.506.231
'Name','SIDPAC
Demonstration','N
%

.504.715],...
umberTitle','off,'Toolbar','none');

% Plot the measured

inputs and outputs.
%
subplot(4,1,1),
plot(t,fdata(:,14),'LineWidth',2),
title('Twin Otter Flight Test Data','FontWeight','bold'),
grid on, ylabel('elevator
(deg)'),
Fibre

Twin

Otter

Data

Analysis

and

Modeling

Script

12
American

Institute

of Aeronautics

and

Astronautics

(continued)

subplot(4,1,2),
plot(t,fdata(:,4),'LineWidth',2),
grid on, ylabel('alpha
(deg)'),
subplot(4,1,3),
plot(t,fdata(:,6),'LineWidth',2),
grid on, ylabel('q
(deg/sec)'),
subplot(4,1,4),
plot(t,fdata(:,13),'LineWidth',2),
grid on, ylabel('az
(g)'), xlabel('Time
(sec)'),
fprintf('\n\n
The figure shows the measured
input and outputs.')
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Calculate
%

aerodynamic

force and moment

coefficients.

fprintf('\n\n
Calculate the non-dimensional
')
fprintf('\n aerodynamic
force and moment ')
fprintf('\n coefficients
using compfc.m
and compmc.m:')
fprintf('\n\n
[CX,CY,CZ,CD,CYw,CL]=compfc(fdata);')
fprintf('\n\n
[CI,Cm,Cn]=compmc(fdata);')
[CX,CY,CZ,CD,CYw,CL]=compfc(fdata);
[CI,Cm,Cn,pv,qv,rv]=compmc(fdata);
subplot(2,1,1),plot(t,CZ,'LineWidth',2),grid
on,ylabel('Z
Force Coefficient'),
title('Non-Dimensional
Coefficients
from Flight Test Data','FontWeight','bold'),
subplot(2,1,2),plot(t,Cm,'LineWidth',2),grid
on,ylabel('Pitching
Moment Coefficient'),xlabel('Time
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Assemble the regressor matrix.
%
fprintf('\n\n
Assemble
the matrix of regressors
')
fprintf('_n for equation-error
parameter
estimation:
fprintf('\n\n
alpha (rad)'),
fprintf('\n qhat '),
fprintf('\n elevator
(rad)'),
X=[fdata(:,4)*pi/180,fdata(:,72),fdata(:,14)*pi/180];
%

(sec)'),

')

% Plot the regressors.

%
subplot(3,1,1),plot(t,X(:,l),'LineWidth',2),grid
on,ylabel('alpha
(rad)'),
title('Eq uation-Error
Regressors','FontWeig
ht','bold'),
subplot(3,1,2),plot(t,X(:,2),'LineWidth',2),grid
on,ylabel('qhat
'),
subplot(3,1,3),plot(t,X(:,3),'LineWidth',2),grid
on,ylabel('elevator
(rad)'),
xlabel('Time
(sec)'),
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Find smoothed trim values.
%
fprintf('\n\n
Find the smoothed trim values ')
fprintf('\n from the regressors
using xsmep.m:')
fprintf('\n\n
X0=xsmep(X,
1.0,dt);')
X0=xsmep(X,1
,dt);
%
% Plot the regressors
and the smoothed trim values.
%
subplot(3,1,1),plot(t,X(:,l),'LineWidth',2),hold
on,
title('Eq uation-Error
Regressors','FontWeig
ht','bold'),
plot(t(1),X(1,1),'r.','MarkerSize',14,'LineWidth',2),
hold
grid on,ylabel('alpha
(rad)'),
subplot(3,1,2),plot(t,X(:,2),'LineWidth',2),
hold on,
plot(t(1),X(1,2),'r.','MarkerSize',14,'LineWidth',2),
hold
grid on,ylabel('qhat
'),
subplot(3,1,3),plot(t,X(:,3),'LineWidth',2),
hold on,
plot(t(1),X(1,3),'r.','MarkerSize',14,'LineWidth',2),
hold
grid on,ylabel('elevator
(deg)'),xlabel('Time
(sec)'),
%
% Remove the smoothed
trim values.
%
fprintf('\n\n
Remove the smoothed
trim values ')
fprintf('\n from the regressors
using :')
fprintf('\n\n
X=X-ones(size(X,
1 ), 1 )*X0(1, :);')
X=X-ones(size(X,1),l)*X0(1,:);
%
% Program lesq.m requires a constant regressor
for
%
Fibre

Twin

Otter

off,

off,

off,

the bias term.

Data

Analysis

and

Modeling

Script

13
American

Institute

of Aeronautics

and

Astronautics

(continued)

X=[X,ones(size(X,1),l)];
fprintf('\n\n
Press any key to continue
%

... '),pause,

% Linear regression for the Z force coefficient.

%
fprintf('\n\n
Z force coefficient:')
fprintf('\n_n Estimate stability and control ')
fprintf('\n derivatives
using equation-error
')
fprintf('\n linear regression
program lesq.m: ')
fprintf('\n\n
[yZ,pZ,crbZ,s2Z]=lesq
(X,CZ);')
[yZ,pZ,crbZ,s2Z]=lesq(X,CZ);
%
% Plot the results.
%
subplot(2,1,1),plot(t,CZ,t,yZ,'r:','LineWidth',2),grid
on,
title('Equation-Error
Parameter
Estimation','FontWeight','bold'),
ylabel('CZ'),legend('Flight
data','Regression
model',0),
subplot(2,1,2),plot(t,CZ-yZ,'LineWidth',l
.5),grid on,
ylabel('Residuar),xlabel('Time
(sec)'),
%
% Compute and display the error bounds.
%
fprintf('\n\n
Compute the estimated parameter
')
fprintf('\n error bounds using r_colores.m:
')
fprintf('\n\n
[crbZ,crboZ]=r_colores(X,CZ);
')
[crbZ,crboZ]=r_colores(X,CZ);
serroZ=sqrt(diag
(crboZ));
serrZ=sqrt(diag(crbZ));
perrZ=100*serrZ./abs(pZ);
fprintf('\n\n
Display the parameter
estimation
')
fprintf('\n results using model_disp.m:')
Xlab=['alpha
(rad)
';'qhat
';'elevator
(rad)'];
model_disp(pZ,serrZ,[1,10,100,0],Xlab);
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Stepwise regression
for the pitching moment coefficient.
%
fprintf('\n_n Pitching moment coefficient:
')
fprintf('\n\n
Add a nonlinear
cross term alpha*elevator
,')
fprintf('\n regressor and use stepwise
regression program swr.m:')
fprintf('\n\n
[ym,pm,crbm,s2m]=swr(X,Cm);')
%
% Program swr.m adds the bias term automatically,
% so the constant regressor
is not necessary.
Add
% the nonlinear cross term to the regressor matrix X.
%
X=[X(:,[1:3]),X(:,
1).*X(:,3)];
[ym,pm,crbm,s2m,Xm,pindxm]=swr(X,Cm,
%
% Include
%

only parameters

1);

for selected

regressors.

pm=pm(pindxm);
%
% Plot the results.
%
subplot(2,1,1),plot(t,Cm,t,ym,'r:','LineWidth',l
.5),grid on,
title('Pitching
Moment Coefficient','FontWeight','bold'),
ylabel('Cm'),legend('Flight
data','Equation-Error
model')
subplot(2,1,2),plot(t,Cm-ym,'LineWidth',l
.5),grid on,
ylabel('Residuar),xlabel('Time
(sec)'),
%
% Compute and display the error bounds.
%
fprintf('\n\n
Compute the estimated parameter
')
fprintf('\n error bounds using r_colores.m:
')
fprintf('\n\n
[crbm,crbom]=r_colores(X,Cm);
')
[crbm,crbom]=r_colores(Xm,Cm);
serrom=sqrt(diag
(crbom));
serrm=sqrt(diag(crbm));
perrm=100*serrm./abs(pm);
Fibre

Twin

Otter

Data

Analysis

and

Modeling

Script

14
American

Institute

of Aeronautics

and

Astronautics

(continued)

fprintf('\n\n
Display the parameter
estimation
')
fprintf('\n results using model_disp.m:')
model_disp(pm,serrm,[1,10,100,0],Xlab);
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Estimate the transfer function model q/de.
%
fprintf('\n\n
Estimate the transfer function ')
fprintf('\n for pitch rate to elevator deflection
')
fprintf('\n (q/de), using tfest.m:')
fprintf('\n\n
[ytf, num,den,ptf,crbtf,s2tf,zr,xr,f]
= tfest(u,z,t,1,2,w);')
fprintf('\n\n
The frequency
vector is w = 2"pi*[0.3:.01:1.3]".')
w=2*pi*[0.3:.01:1.3]';
%
% Detrend
%

the time domain

data for frequency

domain

analysis.

u=zep(fdata(:,14));
z=zep(fdata(:,6));
subplot(2,1,1),plot(t,u,'LineWidth',2),grid
on,
title('Transfer
Function Modeling
Data','FontWeight','bold'),
ylabel('Elevator
(deg)'),
subplot(2,1,2),plot(t,z,'LineWidth',2),grid
on,
ylabel('Pitch
Rate (deg/sec)'),xlabel('Time
(sec)'),
fprintf('\n\n
Press any key to continue ... '),pause,
[ytf,num,den,ptf,crbtf,s2tf,zr,xr,f]
= tfest(u,z,t,1,2,w);
subplot(2,1,1),plot(f,abs(zr),f,abs(xr*ptf),'r:','LineWidth',l
.5),grid on,
title('Frequency
Domain Transfer
Function Modeling','FontWeight','bold'),
ylabel('Magnitude'),legend('Flight
data','Transfer
function model')
subplot(2,1,2),plot(f,
unwrap(angle(zr)),f,unwrap(angle(xr*ptf)),'r:','LineWidth',l
.5),grid
ylabel('Phase'),xlabel('Frequency
(Hz)'),
fprintf('\n'),tf(num,den),
fprintf('\n\n
The figure shows the frequency
domain fit. ')
fprintf('\n\n
Identified modes from the transfer function ')
fprintf('\n identification
in the frequency
domain are: \n')
damp(den),
fprintf('\n\n
Press any key to continue ... '),pause,
subplot(2,1,1),plot(t,z,t,ytf,'r:','LineWidth',l
.5),grid on,
title('Equation-Error
Frequency
Domain Transfer Function Modeling','FontWeight','bold'),
ylabel('Pitch
Rate (deg/sec)'),legend('Flight
data','Transfer
function model')
subplot(2,1,2),plot(t,z-ytf,'LineWidth',2),grid
on,
ylabel('Residuar),xlabel('Time
(sec)'),
fprintf('\n\n
The figure now shows the time domain fit. ')
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Estimate the dimensional
stability and control derivatives
% using time-domain
output-error
parameter
estimation.
%
fprintf('\n\n\n
Now estimate the non-dimensional
stability ')
fprintf('\n and control derivatives
using output-error
')
fprintf('\n parameter estimation
in the time domain.')
fprintf('\n\n
Input:
elevator (rad)')
fprintf('\n Outputs: alpha (rad), q (rad/sec),
az (g)')
dtr=pi/180;
u=fdata(:,[14:16])*dtr;
z=[fdata(:,[4,6])*dtr,fdata(:,
13)];
%
% Plot the measured
%

inputs

on,

and outputs.

subplot(4,1,1),
plot(t,u(:,l),'LineWidth',2),
title('Output-Error
Time Domain Modeling','FontWeight','bold'),
grid on, ylabel('elevator
(rad)'),
subplot(4,1,2),
plot(t,z(:,l),'LineWidth',2),
grid on, ylabel('alpha
(rad)'),
subplot(4,1,3),
plot(t,z(:,2),'LineWidth',2),
grid on, ylabel('q
(rad/sec)'),
subplot(4,1,4),
plot(t,z(:,3),'LineWidth',2),
grid on, ylabel('az
(g)'), xlabel('Time
(sec)'),
fprintf('\n\n
The figure shows the measured
input and outputs.')
Fibre

Twin

Otter

Data

Analysis

and

Modeling

Script

15
American

Institute

of Aeronautics

and

Astronautics

(continued)

%
% Set up for the output-error
parameter
estimation
% nldyn.m to define the dynamic model.
%
nldyn_psel;
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Find initial parameter values for the
% output-error
parameter
estimation.
%
fprintf('\n\n
Initial values of the parameters
in ')
fprintf('\n vector p0 are obtained from the ')
fprintf('\n equation-error
solution:\n')
%

using

% Omit the CZq term in the output-error

formulation,
% because of low sensitivity at low angles of attack.
%
p0=[pZ([1,3,4]);pm],
serrO=[serrZ([1,3,4]);serrm];
fprintf('\n\n
Estimate the model parameters
')
fprintf('\n using output-error
parameter
estimation
')
fprintf('\n program oe.m and dynamic model file nldyn.m:
fprintf('\n\n
[y,p,crb,rr]=oe("nldyn",p0,u,t,x0,cc,z);')
fprintf('\n\n
Press any key to continue ... '),pause,
fprintf('\n\n
Starting oe.m ...')
tic,[y,p,crb,rr]=oe('nldyn',p0,u,t,x0,cc,z);toc,
%
% Plot the results.
%

')

clf, title('Output-Error
Parameter
Estimation','FontWeight','bold'),
subplot(3,1,1),plot(t,z(:,l),t,y(:,l),'r:','LineWidth',2),grid
on,ylabel('alpha
(rad)'),
legend('Flight
data','Output-Error
model',0),
subplot(3,1,2),plot(t,z(:,2),t,y(:,2),'r:','LineWidth',2),grid
on,ylabel('q
(rad/sec)'),
subplot(3,1,3),plot(t,z(:,3),t,y(:,3),'r:','LineWidth',2),grid
on,ylabel('az
(g)'),xlabel('Time
fprintf('\n The plots show the measured
output data ')
fprintf('\n and the identified model fit. ')
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Examine the residuals.
%
clf, subplot(3,1,1),plot(t,z(:,l)-y(:,l),'LineWidth',2),grid
title('Residuals','FontSize',
12,'FontWeight','bold'),
subplot(3,1,2),plot(t,z(:,2)-y(:,2),'LineWidth',2),grid
subplot(3,1,3),plot(t,z(:,3)-y(:,3),'LineWidth',2),grid
%

on;ylabel('alpha
on;ylabel('q
on;ylabel('az

residuals

(sec)'),

(rad)'),

residuals (rad/sec)'),
residuals (g)'),xlabel('Time

(sec)'),

% Correct the estimated parameter

error bounds.
%
fprintf('\n\n
The output residuals are colored ')
fprintf('\n (due to modeling error), so the ')
fprintf('\n Cramer-Rao
bounds calculated
by oe.m must ')
fprintf('\n be corrected for colored residuals using ')
fprintf('\n program m_colores.m:')
fprintf('\n\n
[crb,crbo] = m_colores("nldyn",p,u,t,x0,c,z);')
fprintf('\n\n
Press any key to continue ... '),pause,
fprintf('\n\n
Starting m_colores.m
..._n\n')
tic,[crb,crbo]
= m_colores('nldyn',p,u,t,x0,cc,z);toc,
serr=sqrt(diag(crb));
%
% Display the parameter
estimation
results.
%
model_d isp(p ,serr,[1,100,0,1,10,100,0]
,Xlab);
leglab=['Eq uation-E rror';'Output-E
rror '];
parlab=['CZ_alpha';'CZ_de
';'CZ_o
"
'Cm_alpha';'Cm_q
';'Cm_de
';'Cm o
'];
indx=[4,6]';
p__tpest([p_(indx)_p(indx)]_[serr_(indx)_serr(indx)]_[]_[]_par_ab(indx_:)__eg_ab);
title('Parameter
Estimation
Results','FontWeight','bold')
fprintf('\n\n
The figure shows that the equation-error
')
fprintf('\n and output-error
parameter estimates
are ')
fprintf('\n in statistical agreement.
')
Fibre

Twin

Otter

Data

Analysis

and

Modeling

Script

16
American

Institute

of Aeronautics

and

Astronautics

(continued)

fprintf('\n\n
Press any key to continue ... '),pause,
save 'totter_results.mat'
num den p serr p0 serrO pZ serrZ
%
% Check the prediction capability.
%
load 'totter
Ion 020213f1_017.mat'
fprintf('\n_n Now check the prediction capability
fprintf('\n using data from a different maneuver
fprintf('\n and the identified transfer function ')
fprintf('\n model from before:')
fprintf('\n'),tf(num,den),
u=fdata(:,14);
u=zep(u);
z=fdata(:,6);
z=zep(z);
ytfp=tfsim(num,den,0,u,t);
%
% Plot the transfer function prediction
results.
%

pm serrm

')
')

subplot(2,1,1),plot(t,z,t,ytfp,'r:','LineWidth',2),grid
on,
title('Transfer
Function Prediction','FontWeight','bold'),
ylabel('Pitch
Rate (deg/sec)'),legend('Flight
data','Transfer
function
subplot(2,1,2),plot(t,z-ytfp,'LineWidth',2),grid
on,
ylabel('Residuar),xlabel('Time
(sec)'),
fprintf('\n\n
The figure shows the time domain prediction ')
fprintf('\n using the transfer function model identified ')
fprintf('\n using data from a different maneuver.
')
fprintf('\n\n
Press any key to continue ... '),pause,
u=fdata(:,[14:16])*dtr;
z=[fdata(:,[4,6])*dtr,fdata(:,
13)];
nldyn_psel;
yp=nldyn(p,u,t,x0,cc);
%
% Plot the measured
inputs and outputs.
%
subplot(4,1,1),
plot(t,u(:,l),'LineWidth',2),
title('Twin Otter Flight Test Data','FontWeight','bold'),
grid on, ylabel('elevator
(rad)'),
subplot(4,1,2),
plot(t,z(:,l),'LineWidth',2),
grid on, ylabel('alpha
(rad)'),
subplot(4,1,3),
plot(t,z(:,2),'LineWidth',2),
grid on, ylabel('q
(rad/sec)'),
subplot(4,1,4),
plot(t,z(:,3),'LineWidth',2),
grid on, ylabel('az
(g)'), xlabel('Time
(sec)'),
fprintf('\n\n\n
The figure shows the measured
input and outputs
fprintf('\n for the prediction maneuver.
')
fprintf('\n\n
Press any key to continue ... '),pause,
%
% Plot the output-error
%

prediction

prediction',4)

')

results.

title('Output-Error
Prediction','FontWeig
ht','bold'),
%
% Correct for measurement
biases.
%
bias=ones(length(t),l)\(z-yp);
yp=yp+ones(length(t),l)*bias;
subplot(3,1,1),plot(t,z(:,l)/dtr,t,yp(:,l)/dtr,'r:','LineWidth',2),grid
legend('Flight
data','Output-Error
prediction',4),
title('Output-Error
Model Prediction','FontWeight','bold'),
subplot(3,1,2),plot(t,z(:,2)/dtr,t,yp(:,2)/dtr,'r:','LineWidth',2),grid
subplot(3,1,3),plot(t,z(:,3),t,yp(:,3),'r:','LineWidth',2),grid
fprintf('\n The plots show the measured
output data ')
fprintf('\n and the prediction
using the output-error
')
fprintf('\n model identified using data from a different ')
fprintf('\n maneuver.
')
fprintf('\n\n\nEnd
of demonstration
\n\n')
return

Fi_._ure

cc dtr;

Twin

Otter

Data

on,ylabel('alpha

(rad)'),

on,ylabel('q
(rad/sec)'),
on,ylabel('az
(g)'),xlabel('Time

Analysis

and

Modeling

(sec)'),

Script

17
American

Institute

of Aeronautics

and

Astronautics

(complete)

i_ii

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Fibre

8 Twin

Otter

Pitching

Moment

Coefficient

Modeling

18
American

Institute

of Aeronautics

and Astronautics