Detecting Controller Malfunctions in Electromagnetic Environments: Modeling and Estimation of Nominal System Function - Part 1

A strategy for detecting control law calculation errors in critical flight control computers during laboratory validation testing is presented. This paper addresses Part I of the detection strategy which involves the use of modeling of the aircraft control laws and the design of Kalman filters to predict the correct control commands. Part II of the strategy which involves the use of the predicted control commands to detect control command errors is presented in the companion paper.