function [ lin_f16 ] = getLinF16( xequil,uequil,printOn )
if(nargin==0)
printOn = true;
hg = 0;
Vtg = 502;
phig = 0;
thetag = 0;
xguess = [Vtg 0 0 phig thetag 0 0 0 0 0 0 hg 0];
uguess = [.2 0 0 0];
orient = 4;
inputs = [xguess(1), xguess(12), 0, 0, 0];
[xequil,uequil] = trimmerFun(xguess,uguess,orient,inputs,printOn);
end
if(nargin==2)
printOn=true;
end;
[A, B, C, D] = jacobFun(xequil, uequil, printOn);
C([2:4 7:10],:) = deg2rad(C([2:4 7:10],:));
D([2:4 7:10],:) = deg2rad(D([2:4 7:10],:));
lin_f16 = ss(A,B,C,D);
lin_f16.stateName = {'Vt', 'alpha', 'beta', ...
'phi','theta','psi', ...
'p', 'q', 'r',...
'pn','pe','alt',...
'pow'};
lin_f16.stateUnit = {'ft/s', 'rad', 'rad',...
'rad','rad','rad',...
'rad','rad','rad',...
'ft', 'ft', 'ft','lbs'};
lin_f16.inputName = {'Throttle','Elevator','Aileron','Rudder'};
lin_f16.inputUnit = {'percent','rad','rad','rad'};
lin_f16.outputName = {'Az', 'q', 'alpha', 'theta', 'Vt', 'Ay',...
'p', 'r', 'beta', 'phi'};
lin_f16.outputUnit = {'g''s', 'rad/s', 'rad', 'rad', 'ft/s',...
'g''s', 'rad/s', 'rad/s', 'rad', 'rad'};
lin_f16.name = 'Linearized F-16 SS Model';
if(printOn)
disp('Linearized F-16 SS Model')
lin_f16
end
end
------------------------------------------------------------
Running trimmerFun.m
Throttle (percent): 0.13855
Elevator (deg): -0.758238
Ailerons (deg): 0
Rudder (deg): 0
Angle of Attack (deg): 2.12147
Sideslip Angle (deg): 0
Pitch Angle (deg): 2.12147
Bank Angle (deg): 0
Normal Acceleration (g): -0.998384
Lateral Acceleration (g): 0
Dynamic Pressure (psf): 299.507
Mach Number: 0.449531
Initial Cost Function: 11.2105
Final Cost Function: 2.7691e-10
------------------------------------------------------------
Running jacobFun.m
Linearized F-16 SS Model
lin_f16 =
A =
Vt alpha beta phi theta
Vt -0.01932 8.816 -8.025e-06 -2.975e-06 -32.17
alpha -0.0002538 -1.016 3.28e-06 -1.6e-06 -1.186e-05
beta 0 0 -0.322 0.06404 0
phi 0 0 0 0 0
theta 0 0 0 0 0
psi 0 0 0 0 0
p 0 0 -30.67 0 0
q 3.468e-13 0.8223 0 0 0
r 0 0 8.54 0 0
pn 1 -9.211e-06 0 -1.717e-06 -7.676e-06
pe 0 0 502 -18.58 0
alt -7.077e-16 -502 0 4.64e-06 502
pow 0 0 0 0 0
psi p q r pn
Vt 0 0 -0.5785 0 0
alpha 0 0 0.9051 0 0
beta 0 0.0365 0 -0.9917 0
phi 0 1 0 0.03704 0
theta 0 0 1 0 0
psi 0 0 0 1.001 0
p 0 -3.678 0.0002627 0.6652 0
q 0 -8.795e-06 -1.077 -0.002858 0
r 0 -0.02554 0.002539 -0.4764 0
pn 0 0 0 0 0
pe 502 0 0 0 0
alt 0 0 0 0 0
pow 0 0 0 0 0
pe alt pow
Vt 0 1.906e-05 0.4024
alpha 0 1.864e-06 -2.97e-05
beta 0 0 0
phi 0 0 0
theta 0 0 0
psi 0 0 0
p 0 0 0
q 0 -2.521e-15 0
r 0 0 0
pn 0 0 0
pe 0 0 0
alt 0 0 0
pow 0 0 -1
B =
Throttle Elevator Aileron Rudder
Vt 0 0.1735 0 0
alpha 0 -0.00215 0 0
beta 0 0 0.0002951 0.0008056
phi 0 0 0 0
theta 0 0 0 0
psi 0 0 0 0
p 0 0 -0.7333 0.1315
q 0 -0.1755 0 0
r 0 0 -0.03186 -0.06202
pn 0 0 0 0
pe 0 0 0 0
alt 0 0 0 0
pow 64.94 0 0 0
C =
Vt alpha beta phi theta
Az 0.003978 16.2 -4.855e-08 0 0
q 0 0 0 0 0
alpha 0 1 0 0 0
theta 0 0 0 0 1
Vt 1 0 0 0 0
Ay 0 0 -5.02 0 0
p 0 0 0 0 0
r 0 0 0 0 0
beta 0 0 1 0 0
phi 0 0 0 1 0
psi p q r pn
Az 0 -4.096e-08 0.978 -0.001336 0
q 0 0 1 0 0
alpha 0 0 0 0 0
theta 0 0 0 0 0
Vt 0 0 0 0 0
Ay 0 -0.008059 0 0.1192 0
p 0 1 0 0 0
r 0 0 0 1 0
beta 0 0 0 0 0
phi 0 0 0 0 0
pe alt pow
Az 0 -2.906e-05 0
q 0 0 0
alpha 0 0 0
theta 0 0 0
Vt 0 0 0
Ay 0 0 0
p 0 0 0
r 0 0 0
beta 0 0 0
phi 0 0 0
D =
Throttle Elevator Aileron Rudder
Az 0 -0.04848 0 0
q 0 0 0 0
alpha 0 0 0 0
theta 0 0 0 0
Vt 0 0 0 0
Ay 0 0 0.0046 0.01256
p 0 0 0 0
r 0 0 0 0
beta 0 0 0 0
phi 0 0 0 0
Name: Linearized F-16 SS Model
Continuous-time state-space model.
ans =
A =
Vt alpha beta phi theta
Vt -0.01932 8.816 -8.025e-06 -2.975e-06 -32.17
alpha -0.0002538 -1.016 3.28e-06 -1.6e-06 -1.186e-05
beta 0 0 -0.322 0.06404 0
phi 0 0 0 0 0
theta 0 0 0 0 0
psi 0 0 0 0 0
p 0 0 -30.67 0 0
q 3.468e-13 0.8223 0 0 0
r 0 0 8.54 0 0
pn 1 -9.211e-06 0 -1.717e-06 -7.676e-06
pe 0 0 502 -18.58 0
alt -7.077e-16 -502 0 4.64e-06 502
pow 0 0 0 0 0
psi p q r pn
Vt 0 0 -0.5785 0 0
alpha 0 0 0.9051 0 0
beta 0 0.0365 0 -0.9917 0
phi 0 1 0 0.03704 0
theta 0 0 1 0 0
psi 0 0 0 1.001 0
p 0 -3.678 0.0002627 0.6652 0
q 0 -8.795e-06 -1.077 -0.002858 0
r 0 -0.02554 0.002539 -0.4764 0
pn 0 0 0 0 0
pe 502 0 0 0 0
alt 0 0 0 0 0
pow 0 0 0 0 0
pe alt pow
Vt 0 1.906e-05 0.4024
alpha 0 1.864e-06 -2.97e-05
beta 0 0 0
phi 0 0 0
theta 0 0 0
psi 0 0 0
p 0 0 0
q 0 -2.521e-15 0
r 0 0 0
pn 0 0 0
pe 0 0 0
alt 0 0 0
pow 0 0 -1
B =
Throttle Elevator Aileron Rudder
Vt 0 0.1735 0 0
alpha 0 -0.00215 0 0
beta 0 0 0.0002951 0.0008056
phi 0 0 0 0
theta 0 0 0 0
psi 0 0 0 0
p 0 0 -0.7333 0.1315
q 0 -0.1755 0 0
r 0 0 -0.03186 -0.06202
pn 0 0 0 0
pe 0 0 0 0
alt 0 0 0 0
pow 64.94 0 0 0
C =
Vt alpha beta phi theta
Az 0.003978 16.2 -4.855e-08 0 0
q 0 0 0 0 0
alpha 0 1 0 0 0
theta 0 0 0 0 1
Vt 1 0 0 0 0
Ay 0 0 -5.02 0 0
p 0 0 0 0 0
r 0 0 0 0 0
beta 0 0 1 0 0
phi 0 0 0 1 0
psi p q r pn
Az 0 -4.096e-08 0.978 -0.001336 0
q 0 0 1 0 0
alpha 0 0 0 0 0
theta 0 0 0 0 0
Vt 0 0 0 0 0
Ay 0 -0.008059 0 0.1192 0
p 0 1 0 0 0
r 0 0 0 1 0
beta 0 0 0 0 0
phi 0 0 0 0 0
pe alt pow
Az 0 -2.906e-05 0
q 0 0 0
alpha 0 0 0
theta 0 0 0
Vt 0 0 0
Ay 0 0 0
p 0 0 0
r 0 0 0
beta 0 0 0
phi 0 0 0
D =
Throttle Elevator Aileron Rudder
Az 0 -0.04848 0 0
q 0 0 0 0
alpha 0 0 0 0
theta 0 0 0 0
Vt 0 0 0 0
Ay 0 0 0.0046 0.01256
p 0 0 0 0
r 0 0 0 0
beta 0 0 0 0
phi 0 0 0 0
Name: Linearized F-16 SS Model
Continuous-time state-space model.