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RESULTS OF COMPUTATIONAL EXPERIMENTS WITH ADAPTIVE SYSTEMS      265


















































                          FIGURE A.39 The results of a computational experiment for the MRAC-type control system (mini-UAV X-04), a flight
                          with airspeed V ind = 70 km/h in the event of a failure situation at time t = 10 sec (backwards shift of the center of gravity by
                          10%) and then at the time t = 20 sec (50% decrease in the effectiveness of the longitudinal control organ). Here α is angle of
                          attack, deg (dotted line for reference model, solid line for plant); E α is the tracking error for the given angle of attack, deg;
                          α ref is the reference signal on the angle of attack, deg; δ e, act is the command signal for the elevator actuator, deg; t is time,
                          sec.
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