Integrated flight/propulsion control specifications for systems with two-way coupling

A general technique for generating specifications for integrated flight propulsion control is extended to include systems with significant two-way coupling between the flight and propulsion systems. These specification define how the subsystems must perform within an integrated control system in order to assure that performance goals (specifically stability) are met when the subsystems are combined to form a closed-loop integrated system. Such specifications are useful for a large class of integrated control problems that are best approached in a partitioned or decentralized manner. An example demonstrating the application of these techniques to a simple helicopter problem is provided.