CSMP III Program for Autopilot Aircraft System

TITLE AIRCRAFT WITH RATE CONTROL
*
PARAM D = (5.656, 16.968, 39.592, 56.56, 113.12)
INPUT = ATIME ERROR = INPUT – HEAD TORQUE = KERROR – D*ANGVEL
ANGACC = TORQUE/I
HEAD = INTGRL (0.0, ANGVEL)
ANGVEL= INTGRL (0.0, ANGACC)
*
CONST I = 2.0, K = 400.0, A = 0.0175
TIMER DELT = 0.005, FINTIM = 1.5, PRDEL = 0.05
PRINT HEAD
LABEL HEADING VERSUS TIME
END

Note: 𝜽𝟎, 𝜽𝟎 𝒂𝒏𝒅 𝜽𝟎 are HEAD, angular velocity (ANGVEL) and angular
acceleration (ANGACC respectively). A is constant. D takes different values on
five separate runs. 

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