Automated Parameter Optimization of an Incremental Inversion Controller Considering Robustness Requirements

This paper presents an automated parameter optimization framework for an Incremental Nonlinear Dynamic Inversion (INDI) controller, developed for an electrically powered vertical take-off and landing (eVTOL) fixed-wing aircraft equipped with a tilt-propulsion system. The tuning of the error controller is conducted across various operating points within the flight envelope, with particular emphasis on the transition phase between hover and forward flight—where actuator effectiveness changes significantly. The optimization process is designed to improve control performance by systematically adjusting controller parameters while meeting robustness and tracking performance requirements. Furthermore, it explicitly accounts for system delays and the effects of discretization. The resulting controller is validated through nonlinear simulations to ensure stability and reliable performance across the vehicle's operating conditions.