Adaptive Augmentation of Incremental NDI Laws with Systematic H∞ Synthesis

Incremental Nonlinear Dynamic Inversion (INDI) is a promising control framework for systems characterized by significant nonlinearities and uncertainties, such as high-performance aircraft. However, the capabilities of INDI control are limited by its sensitivity to noise, delays, and modeling errors, which hinder its industrial adoption and certification. This paper presents an adaptive INDI extension with systematic synthesis capabilities, thereby enabling formal verification of performance and robustness, and paving the way toward certifiable INDI flight control systems.