A new design approach to achieve a minimum impulse limit cycle in the presence of significant measurement uncertainties

A new design was developed for the Space Shuttle Transition Phase Digital Autopilot to reduce the impact of large measurement uncertainties in the rate signal during attitude control. The signal source, which was dictated by early computer constraints, is characterized by large quantization, noise, bias, and transport lag which produce a measurement uncertainty larger than the minimum impulse rate change. To ensure convergence to a minimum impulse limit cycle, the design employed bias and transport lag compensation and a switching logic with hysteresis, rate deadzone, and 'walking' switching line. The design background, the rate measurement uncertainties, and the design solution are documented.