Modelling and control of nonlinear negative imaginary systems

Abstract This article investigates mathematical modelling and control of a nonlinear negative imaginary system using an illustrative benchmark physical example quadrotor dynamic model. A generalized methodology based on Euler–Lagrange equation is applied to obtain model for the quadrotor. In this method, Kronecker product employed formulate Coriolis matrix, which then used construct further presents systems theory-based analysis synthesis framework find solution quadrotor’s attitude stability problem while hovering. The multi-loop scheme that directly uses Euler angles (angular positions) instead angular velocity measurements. Numerical simulation results paper show investigated strategy ensures asymptotic stabilization in presence external disturbance.