MPC design for fault-tolerant flight control purposes based upon an existing output feedback controller

This paper investigates the qualities of a method for finding both a state-observer and the cost function associated with a model predictive controller, based upon an already existing output feedback controller. More specifically, an existing autopilot for a large transport aircraft is selected as the basis from which such a pair of an observer and a cost-function is to be determined. The goal of this exercise is to retain the properties of the existing controller, while adding the constraint handling capabilities of MPC. Consistent satisfaction of constraints is deemed an enabling quality in the application of MPC as a fault-tolerant controller for the aircraft benchmark under consideration.