The authors set weighting factors in the cost function
as k1 ¼ 10, k2 ¼ 5, k3 ¼ 5, k4 ¼ 3, c1 ¼ 1, c2 ¼ 0.75,
c3 ¼ 1.25, K ¼ diag[1 1 10 10], and H ¼ diag[1 1].
Parameters of the abovementioned model are listed
in Table 1.
According to the values of the model parameters and
the state equation, the operating frequencies in the
pitch and roll directions can be obtained from the
eigenvalues of the system matrix A as follows:
The authors set weighting factors in the cost functionas k1 ¼ 10, k2 ¼ 5, k3 ¼ 5, k4 ¼ 3, c1 ¼ 1, c2 ¼ 0.75,c3 ¼ 1.25, K ¼ diag[1 1 10 10], and H ¼ diag[1 1].Parameters of the abovementioned model are listedin Table 1.According to the values of the model parameters andthe state equation, the operating frequencies in thepitch and roll directions can be obtained from theeigenvalues of the system matrix A as follows:
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