Overall impact of actuator-loop cancellation in incremental NDI

Investigate the overall impact of effective actuator position-loop cancellation caused by feeding measured actuator position back into incremental nonlinear dynamic inversion, including its effects on actuator dynamics and other control functions sharing the same control surfaces.

Background

Incremental nonlinear dynamic inversion can feed back measured actuator positions in a way that cancels the actuator position-control loop, producing behavior that resembles an integrator. The paper notes that this cancellation may also affect other control functions using the same actuators, such as secondary functions issuing position commands. Although delays, actuator bandwidth, and time-scale separation may mitigate the phenomenon, the authors state that its overall impact has not yet been adequately investigated.

References

This fact already indicates that there must be some effect occurring through this phenomenon. However, the overall impact has not yet been adequately investigated.

— Dynamic Inversion: An Incrementally Evolving Methodology for Flight Control Design  (2608.23229 - Milz et al., 24 Aug 2026) in Section 4, subsection “Interaction with External Functions”