{"id":"https://openalex.org/W1986484556","doi":"https://doi.org/10.1080/00207170903419713","title":"Nonlinear robust control of a small-scale helicopter on a test bench","display_name":"Nonlinear robust control of a small-scale helicopter on a test bench","publication_year":2010,"publication_date":"2010-03-16","ids":{"openalex":"https://openalex.org/W1986484556","doi":"https://doi.org/10.1080/00207170903419713","mag":"1986484556"},"language":"en","primary_location":{"id":"doi:10.1080/00207170903419713","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207170903419713","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010471737","display_name":"Baoquan Song","orcid":"https://orcid.org/0000-0002-6046-8209"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CA","CN"],"is_corresponding":true,"raw_author_name":"Baoquan Song","raw_affiliation_strings":["a   College of Electronic Science and Engineering , National University of Defense Technology ,  Changsha ,  China","b   Department of Mechanical and Industrial Engineering , University of Toronto ,  Toronto ,  ON ,  Canada","College of Electronic Science and Engineering , National University of Defense Technology , Changsha , China","Department of Mechanical and Industrial Engineering , University of Toronto , Toronto , ON , Canada"],"affiliations":[{"raw_affiliation_string":"a   College of Electronic Science and Engineering , National University of Defense Technology ,  Changsha ,  China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"b   Department of Mechanical and Industrial Engineering , University of Toronto ,  Toronto ,  ON ,  Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"College of Electronic Science and Engineering , National University of Defense Technology , Changsha , China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering , University of Toronto , Toronto , ON , Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001918826","display_name":"James K. Mills","orcid":"https://orcid.org/0000-0001-7651-9552"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"James K. Mills","raw_affiliation_strings":["b   Department of Mechanical and Industrial Engineering , University of Toronto ,  Toronto ,  ON ,  Canada","Department of Mechanical and Industrial Engineering , University of Toronto , Toronto , ON , Canada"],"affiliations":[{"raw_affiliation_string":"b   Department of Mechanical and Industrial Engineering , University of Toronto ,  Toronto ,  ON ,  Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering , University of Toronto , Toronto , ON , Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003993404","display_name":"Haibo Huang","orcid":"https://orcid.org/0000-0001-8909-3036"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Haibo Huang","raw_affiliation_strings":["b   Department of Mechanical and Industrial Engineering , University of Toronto ,  Toronto ,  ON ,  Canada","Department of Mechanical and Industrial Engineering , University of Toronto , Toronto , ON , Canada"],"affiliations":[{"raw_affiliation_string":"b   Department of Mechanical and Industrial Engineering , University of Toronto ,  Toronto ,  ON ,  Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering , University of Toronto , Toronto , ON , Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["c   Department of Mechanical and Automation Engineering , Chinese University of Hong Kong ,  Hong Kong ,  China","Department of Mechanical and Automation Engineering , Chinese University of Hong Kong , Hong Kong , China"],"affiliations":[{"raw_affiliation_string":"c   Department of Mechanical and Automation Engineering , Chinese University of Hong Kong ,  Hong Kong ,  China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering , Chinese University of Hong Kong , Hong Kong , China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065080432","display_name":"Caizhi Fan","orcid":"https://orcid.org/0000-0002-3470-3826"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caizhi Fan","raw_affiliation_strings":["a   College of Electronic Science and Engineering , National University of Defense Technology ,  Changsha ,  China","College of Electronic Science and Engineering , National University of Defense Technology , Changsha , China"],"affiliations":[{"raw_affiliation_string":"a   College of Electronic Science and Engineering , National University of Defense Technology ,  Changsha ,  China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Electronic Science and Engineering , National University of Defense Technology , Changsha , China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5010471737"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":2.12788818,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88371456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"83","issue":"4","first_page":"761","last_page":"775"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.673651397228241},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6230167746543884},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.591340959072113},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5509808659553528},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5303593277931213},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5209392309188843},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.4910409450531006},{"id":"https://openalex.org/keywords/test-bench","display_name":"Test bench","score":0.47509539127349854},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4426986277103424},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4407809376716614},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.43065470457077026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41271182894706726},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40513384342193604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3493928909301758},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.3428894877433777},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3145393133163452}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.673651397228241},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6230167746543884},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.591340959072113},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5509808659553528},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5303593277931213},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5209392309188843},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.4910409450531006},{"id":"https://openalex.org/C2776266606","wikidata":"https://www.wikidata.org/wiki/Q476482","display_name":"Test bench","level":2,"score":0.47509539127349854},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4426986277103424},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4407809376716614},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.43065470457077026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41271182894706726},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40513384342193604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3493928909301758},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.3428894877433777},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3145393133163452},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/00207170903419713","is_oa":false,"landing_page_url":"https://doi.org/10.1080/00207170903419713","pdf_url":null,"source":{"id":"https://openalex.org/S88061139","display_name":"International Journal of Control","issn_l":"0020-7179","issn":["0020-7179","1366-5820"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W110216922","https://openalex.org/W578120400","https://openalex.org/W1601803999","https://openalex.org/W1671458070","https://openalex.org/W1971109695","https://openalex.org/W1973834583","https://openalex.org/W2034582825","https://openalex.org/W2041557901","https://openalex.org/W2050415548","https://openalex.org/W2058697337","https://openalex.org/W2062606777","https://openalex.org/W2070662056","https://openalex.org/W2095286297","https://openalex.org/W2109482834","https://openalex.org/W2115382766","https://openalex.org/W2121610374","https://openalex.org/W2129992565","https://openalex.org/W2160507774","https://openalex.org/W2495557255","https://openalex.org/W4246223937"],"related_works":["https://openalex.org/W2103982267","https://openalex.org/W2065196227","https://openalex.org/W2675431147","https://openalex.org/W2319944002","https://openalex.org/W2360530244","https://openalex.org/W2724432464","https://openalex.org/W2357305699","https://openalex.org/W2126107835","https://openalex.org/W1484482787","https://openalex.org/W1552820068"],"abstract_inverted_index":{"A":[0],"nonlinear":[1],"robust":[2,21,46],"controller":[3,72,85,133],"design":[4,110,122],"procedure":[5,123],"is":[6,9,42,95,134,139],"presented,":[7],"which":[8,73],"designed":[10],"to":[11,97,104],"simultaneously":[12],"satisfy":[13],"multiple":[14,51,78],"conflicting":[15,79,107],"closed-loop":[16,52,71,128],"performance":[17,22,47,53,80,109,149],"specifications.":[18,81],"Significantly,":[19],"a":[20,35,69,75,87,98,125],"specification":[23],"for":[24,29],"the":[25,31,59,83,91,106,115,119,131,148,151],"experimental":[26,143],"system,":[27],"developed":[28],"studying":[30],"attitude":[32],"control":[33,101],"of":[34,58,77,150],"small-scale":[36,144],"helicopter":[37],"in":[38,136],"our":[39],"previous":[40],"work,":[41],"discussed":[43],"quantitatively.":[44],"The":[45],"specifications":[48,54],"and":[49,138],"nominal":[50],"are":[55],"conflicting.":[56],"Use":[57],"Convex":[60],"Integrated":[61],"Design":[62],"(CID)":[63],"method":[64,94],"can":[65],"provide,":[66],"where":[67],"feasible,":[68],"single":[70],"satisfies":[74],"set":[76],"However,":[82],"resultant":[84],"has":[86],"complex":[88],"form.":[89],"Here,":[90],"standard":[92,116],"CID":[93,117,121],"extended":[96,120],"more":[99],"general":[100],"system":[102],"framework":[103],"solve":[105],"simultaneous":[108],"problem.":[111],"When":[112],"compared":[113],"with":[114,141],"design,":[118],"generates":[124],"relatively":[126],"simple":[127],"controller.":[129,153],"Finally,":[130],"synthesised":[132],"tested":[135],"simulation":[137],"validated":[140],"an":[142],"test":[145],"helicopter,":[146],"demonstrating":[147],"proposed":[152]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}