The Influence of the Taylor Series Remainder on an Incremental Non-Linear Dynamic Inversion Controller

This paper presents an analysis of a non-linear control algorithm called incremental non-linear dynamic inversion. A Taylor series approximation is used in this algorithm, neglecting higher order terms. This could destabilize the controller if the error made is not bounded. By making use of the Taylor series remainder term and the bounding properties it has, a derivation is made showing that the control algorithm is able to reject these inaccuracies under certain conditions. It is also shown that the incremental non-linear dynamic inversion controller remains robust towards model uncertainties under the influence of the remainder.