Mixed Sensitivity Servo Control of Active Control Systems
Round 1
Reviewer 1 Report
The paper investigated an aircraft control approach with the use of a sidestick. Comprehensive modeling of the system and H^infinity control designing using Matlab is presented. The system is tested in a set of simulation experiments. However, the paper has to be improved as it has several flaws. Please check the paper and correct it taking into account the following:
- explain what is meant by 'artificial feel intelligent sidestick' (feel?), correct parts with 'side sidestick'
- explain what is meant by 'telex control mode'
- check and correct grammar in sentences, as some sentences are not logical or complete (e.g., in rows 458-459 or 469)
- the style of the literature part is not uniform (e.g., the order of a surname and initial of the name is different in different instances) please check the style which should be used for the journal and correct it accordingly. Check position 21. which is missing.
- correct uneven font size in equations (e.g., in rows 203-207 or 362-367)
- correct wrong references to figures and equations (e.g., to fig. 12 in row 475 (should this be 22?), to fig. 49 in row 489 (there are only 29 figures in the paper), to eq. (80) in row 484 (there is no such equation in the text))
Author Response
Reviewer 1
The paper investigated an aircraft control approach with the use of a sidestick. Comprehensive modeling of the system and H^infinity control designing using Matlab is presented. The system is tested in a set of simulation experiments. However, the paper has to be improved as it has several flaws. Please check the paper and correct it taking into account the following:
1. explain what is meant by ‘artificial feel intelligent sidestick’(feel?), correct parts with ‘side sidestick’
Answer: Actually, ‘artificial feel intelligent sidestick’ is not accurate describtion, it should be ‘Different from the traditional fly-by-wire technology, this paper proposes the design principle of sidestick in artificial feel system.’
2. explain what is meant by 'telex control mode'
Answer: ‘telex control mode’ meant ‘fly-by-wire technology’, and we have replaced it in full-manuscript.
3. check and correct grammar in sentences, as some sentences are not logical or complete (e.g., in rows 458-459 or 469)
Answer: Sentences in rows 458-459 had been corrected: ‘In this way, the control problem of the artificial feel system becomes how to find the closed-loop control system, which is internally stable and satisfies the controller K above.’
Sentences in rows 469 had been corrected: ‘Firstly, the weighted function of the sensitivity function S (s) is set as the one-level rational function.’
- the style of the literature part is not uniform (e.g., the order of a surname and initial of the name is different in different instances) please check the style which should be used for the journal and correct it accordingly. Check position 21. which is missing.
Answer: We have adjusted the literature parts, however, some references are not uniform in their respective retrieval systems, so some references here retain the original format.
Reference No. 21 is a blank line left by mistake when typesetting. There are 27 references totally in this manuscrip.
5. correct uneven font size in equations (e.g., in rows 203-207 or 362-367)
Answer: We have corrected, and we have examined it in full-manuscript.
6. correct wrong references to figures and equations (e.g., to fig. 12 in row 475 (should this be 22?), to fig. 49 in row 489 (there are only 29 figures in the paper), to eq. (80) in row 484 (there is no such equation in the text))
Answer: We have corrected, and we have examined it in full-manuscript.
Reviewer 2 Report
The comments for the authors are as follows:
The novelty of the manuscript is unclear in the abstract and introduction.
How the proposed H infinity control is different compared to the other methods?
Which reference frame is used to represent current I_1?
Please add the description of all the variables used in the equations immediately after the equation.
I could not find the reference 28 quoted in the manuscript. In addition, it is not good to put the references in the bulk. The authors should avoid excessively large grouping of references.
Author Response
Reviewer 2
- The novelty of the manuscript is unclear in the abstract and introduction.
Answer: The innovations of this paper are as follows :
- This paper proposes the design principle of sidestick in artificial feel system.
- The servo characteristics of the system are analyzed, and the position closed-loop system and the torque closed-loop system are preliminarily designed.
- This paper proposes a robust control method for active sidestick manipulation based on
These descriptions were added in the introduction.
- How the proposed H infinity control is different compared to the other methods?
Broadly speaking, robust control is mainly aimed at the uncertainty of single variable system ( SISO ) under small perturbation. Compared with other control methods, robust control is more suitable for the research object of this paper.
For example, Sliding mode control, a mature control method, the ' structure ' of the system is not fixed, but can be in the dynamic process, according to the current state of the system ( such as deviation and its derivatives, etc. ) purposefully changing, forcing the system according to the predetermined ' sliding mode ' state trajectory.
- Which reference frame is used to represent current I_1?
Answer: Circuit current in Equivalent armature circuit.
- Please add the description of all the variables used in the equations immediately after the equation.
About this opinion I would like to temporarily reserve the opinion, adding annotations after each equations will reduce the cleanliness of the article.
Please feel free to let me know if you assist it.
- I could not find the reference 28 quoted in the manuscript. In addition, it is not good to put the references in the bulk. The authors should avoid excessively large grouping of references.
Reference No. 21 is a blank line left by mistake when typesetting. There are 27 references totally in this manuscrip.
Reviewer 3 Report
1. This paper's abstract needs to be revised in light of current difficulties and the new methodology's solution.
2. The contributions should be stressed more explicitly to let the reader immediately grasp them. From Section 1, it could be seen that the authors failed to show the limitations of the existing methods. So, the main contribution of the paper shall be highlighted and emphasized. Moreover, please cite more recent papers to make a fair literature review.
3. Highlight the major contributions briefly in 2/3 bulleted points before the paper's organization.
4. The characteristics model is not presented in the proper way. Moreover, the reviewer could not find any novelty in this paper in terms of mathematical modeling.
5. Section 2 should be separated along with a problem formulation section.
6. What are the advantages of this controller as compared to other control approaches? The advantages of the selected approach are not explained in the manuscript. From the design section, the reviewer could not find any logic in designing such a controller for this system.
7. From the controller design section, it can be seen that the control law derivation approach is not clear. The reviewer should have said that the authors did not have the proper knowledge to design a nonlinear controller.
8. Please explain the simulation and experiment platforms in more detail so that the reader can easily understand them. Moreover, the simulation is a very simple system. Please used a large network to show the effectiveness of the proposed controller.
9. The reviewer hopes that the authors will provide more results to prove the superiority of the proposed control scheme as compared to the existing controllers.
10. Please show the control input responses of all control schemes.
Author Response
Reviewer 3
- This paper's abstract needs to be revised in light of current difficulties and the new methodology's solution.
Abstract has been revised.
- The contributions should be stressed more explicitly to let the reader immediately grasp them. From Section 1, it could be seen that the authors failed to show the limitations of the existing methods. So, the main contribution of the paper shall be highlighted and emphasized. Moreover, please cite more recent papers to make a fair literature review.
I suppose that the limitations of the existing methods had been presented clearly
- Highlight the major contributions briefly in 2/3 bulleted points before the paper's organization.
Sorry, I cannot understand what you mean.
- The characteristics model is not presented in the proper way. Moreover, the reviewer could not find any novelty in this paper in terms of mathematical modeling.
It seems that our ideas are quite different in relevant field.
- Section 2 should be separated along with a problem formulation section.
I don’t understand your expressions.
- What are the advantages of this controller as compared to other control approaches? The advantages of the selected approach are not explained in the manuscript. From the design section, the reviewer could not find any logic in designing such a controller for this system.
Broadly speaking, robust control is mainly aimed at the uncertainty of single variable system ( SISO ) under small perturbation. Compared with other control methods, robust control is more suitable for the research object of this paper.
- From the controller design section, it can be seen that the control law derivation approach is not clear. The reviewer should have said that the authors did not have the proper knowledge to design a nonlinear controller.
Of course we are not the authority in this field, however, please respect our research. You can point to specific issues, not generalities.
- Please explain the simulation and experiment platforms in more detail so that the reader can easily understand them. Moreover, the simulation is a very simple system. Please used a large network to show the effectiveness of the proposed controller.
In the supplement materials, the simulation platforms were introducted particulary.
- The reviewer hopes that the authors will provide more results to prove the superiority of the proposed control scheme as compared to the existing controllers.
We think current results are enough to prove the theory in the manuscript.
- Please show the control input responses of all control schemes.
This manuscript only shows relevant control input responses, not all parameter, please forgive it.
Round 2
Reviewer 3 Report
The authors did not respond to the reviewer's suggestions. However, the manuscript is not acceptable unless these comments are addressed.
Author Response
the newly revised version please see the attachment.
Author Response File: 
Author Response.pdf
