Incremental Nonlinear Dynamic Inversion control

Themes: Aerospace

Early prototype

A TRL is a measure to indicate the matureness of a developing technology. When an innovative idea is discovered it is often not directly suitable for application. Usually such novel idea is subjected to further experimentation, testing and prototyping before it can be implemented. The image below shows how to read TRL’s to categorise the innovative ideas.

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Incremental Nonlinear Dynamic Inversion (INDI) control provides robustness for nonlinear control systems (such as aircraft, pneumatic actuator systems, robotic manipulators) and reduces dependency on model information.


The INDI control strategy uses already available sensor data to generate an incremental control law that does not rely on model information.


Since its introduction in 2010 INDI has significantly advanced, with successful applications in e.g. an unmanned helicopter, unmanned fixed wing aircrafts, quadrotors, a fly-by-wire military helicopter, and a real flight test of the TU Delft Cessna Citation II fly-by-wire aircraft.

Dr. Qiping Chu


Dr. ir. Erik-Jan van Kampen