Guidance, Navigation and Control · State-Space and Optimal Control · M4-L2 · Advanced
The Observer That Spoils the Loop
Bench log · Hopper on the test range
07:55. Hopper's pitch-rate gyro died overnight and the replacement is two weeks away. The flight computer can still read position, velocity and tilt, so the controller will use an estimate of the pitch rate. The first try rings, and the second chatters.
You will find the window of observer bandwidths that works, and write the update the flight code runs 50 times a second.
Your task
Lab complete: post-mortem
You have passed every stage. Now connect it back to the theory and move on:
Output
What Python can I use?
Plain Python 3 with the standard library and the course library gnckit (import gnckit as g: transfer functions and margins, state space and LQR, the Hopper model, quaternions, a convex solver). NumPy is not available in the browser. Your code runs in a background worker: an endless loop is stopped after a few seconds and the page stays usable. It runs in your browser and is never sent anywhere.