Nonlinear adaptive longitudinal controller and flight qualities validation for a business aircraft

Abstract This paper presents the design of a nonlinear adaptive flight control system for the Cessna Citation X longitudinal dynamics. The aircraft pitch rate is controlled using a combination of recursive least squares-based nonlinear dynamic inversion and an adaptive neural network controller. The recursive least squares algorithm provides online parameter estimates to support the inversion, while the neural network compensates for residual modeling errors through online weight adaptation. To enhance robustness and ensure stability, a fixed-gain proportional integral derivative controller is integrated into the control structure. Unlike conventional gain-scheduled controllers, where PID gains vary with flight condition, the proposed adaptive controller uses a single baseline set of fixed gains. The adaptive component updates the control action online, enabling the same controller configuration to operate effectively across all 64 cruise conditions without any gain scheduling. A systematic tuning methodology is introduced for initialising the recursive least squares, selecting forgetting factors and applying covariance resets to ensure accurate adaptation. The controller is able to track a pitch-rate reference model that satisfies longitudinal flight quality requirements. Robustness is assessed under realistic disturbances, including wind gusts, Dryden turbulence, actuator loss-of-effectiveness and actuator noise. Simulation results demonstrate that the controller achieves precise reference tracking while maintaining Level 1 flight qualities. Stability is formally guaranteed using Lyapunov-based analysis. The findings highlight the ability of the designed hybrid adaptive controller to overcome limitations of linearisation, gain scheduling and estimator sensitivity, forecasting a practical and certifiable method for the integration of intelligent adaptive flight control systems into commercial aircraft.