the aircraft being closer to trim. The resulting model consists of six states and poles as

shown in Table 5-3. The roll mode is clearly shown and the dutch roll mode indicates

the slight oscillations which are present in the combined roll and yaw motion as shown

in Figure 5-12.

 Table 5-3: Poles of a linear model of the 24 m MAV

 Poles Value
 Dutch Roll -3.75 13.841
 Roll -4.03


 In order to study whether this model is a good enough linear approximation of

the dynamics of the 24 m MAV, different inputs are considered for the same model.

These inputs are doublet morphing commands at different times throughout the same

set of data. The simulated and measured values of roll rate and yaw rate are shown in

Figure 5-13 for several inputs.

 It is clearly shown that the simulated and actual roll rate and yaw rate responses

demonstrate good correlation. The simulations shown in Figure 5-13 show that the

model which was obtained from a doublet maneuver responds well to different inputs.

The first input was a small morphing doublet commanded from a separate data set. The

following two inputs were from a medium and large morphing doublet, respectively

from the data set that was used for obtaining the model.