Flight Test Evaluation of Non-Linear Dynamic Inversion Controller

** †† A guidance and control system for emergency landings is developed and flight tests are carried out using an experimental aircraft. The system consists of an online optimal trajectory design method and a tracking control method. The online version of a direct collocation method is developed and a nonlinear dynamic inversion with a singular perturbation method is designed for tracking optimized 4D trajectories. Numerical simulations and hardware-in-the-loop simulations are carried out before real flight tests. The flight control system is successfully evaluated in real flight experiments using modified Dornier 228 with fly-by-wire control systems.