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Represent precision pilot model

**Library:**Aerospace Blockset / Pilot Models

The Precision Pilot Model block represents the pilot model described in
*Mathematical Models of Human Pilot Behavior*
[1]. This pilot model
is a single input, single output (SISO) model that represents some aspects of human
behavior when controlling aircraft. When modeling human pilot models, use this block for
more accuracy than that provided by the Tustin Pilot Model and Crossover Pilot Model blocks.

This block has non-linear behavior. If you want to linearize the block (for example,
with one of the `linmod`

functions), you might need to
change the Pade approximation order. The Precision Pilot Model block
implementation incorporates the Transport Delay block with the
**Pade order (for linearization)** parameter set to
`2`

by default. To change this value, use the `set_param`

function, for example:

set_param(gcb,'pade','3')

This block is an extension of the Crossover Pilot Model block. It implements the equation described in Algorithms.

When calculating the model, this block also takes into account the neuromuscular dynamics of the pilot. This block implements the following equation:

$${Y}_{p}={K}_{p}{e}^{-\tau s}\left(\frac{{T}_{L}s+1}{{T}_{I}s+1})\right)\left[\frac{1}{\left({T}_{N1}s+1\right)\left(\frac{{s}^{2}}{{\omega}_{N}{}^{2}}+\frac{2{\zeta}_{N}}{{\omega}_{N}}s+1\right)}\right],$$

where:

Variable | Description |
---|---|

K
_{p}
| Pilot gain. |

τ
| Pilot delay time. |

T
_{L}
| Time lead constant for the equalizer term. |

T
_{I}
| Time lag constant. |

T
_{N1}
| Time constant for the neuromuscular system. |

ω
_{N}
| Undamped frequency for the neuromuscular system. |

ζ _{N}
| Damping ratio for the neuromuscular system. |

A sample value for the natural frequency and the damping ratio of a human is 20 rad/s and 0.7, respectively. The term containing the lead-lag term is the equalizer form. This form changes depending on the characteristics of the controlled system. A consistent behavior of the model can occur at different frequency ranges other than the crossover frequency.

[1] McRuer, D. T., Krendel, E.,
*Mathematical Models of Human Pilot Behavior* . Advisory Group
on Aerospace Research and Development AGARDograph 188, Jan. 1974.

[2] McRuer, D. T., Graham, D.,
Krendel, E., and Reisener, W., *Human Pilot Dynamics in Compensatory
Systems* . Air Force Flight Dynamics Lab. AFFDL-65-15. 1965.

Crossover Pilot Model | `linmod`

| Transport Delay | Tustin Pilot Model