Following well established feedback control design principles, a control theoretic model of driver steering behavior is presented. While accounting for the inherent manual control limitations of the human, the compensation dynamics of the driver are chosen to produce a stable, robust, closedloop driver/vehicle system with a bandwidth commensurate with the demands of the driving task being analyzed. A technique for selecting driver model parameters is a natural by-product of the control theoretic modeling approach. Experimental verification shows the ability of the model t o produce driver/vehicle responses similar to those obtained in a simulated lane-keeping driving task on a curving road. A technique for selecting driver model parameters is a natural byproduct of the control theoretic modeling approach. Experimental verification shows the ability of the model to produce driver/vehicle responses similar to those obtained in a simulated lane-keeping driving task on a curving road. Control Technology for Automotive EngineeringActive control technology, which is now routinely used in modern high-performance aircraft, is finding its way into the realm of automotive engineering [l].The design and development of systems for four-wheel steering, active suspensions, active, indepenrdent braking and "drive-bywire" steering provide the engineer with considerably more freedom in altering vehicle handling qualities than existed in the past. Mathematical models of driver steering behavior can serve as useful tools in analytical investigations of proposed vehicle control

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A unified theory for aircraft handling qualities and adverse aircraft-pilot coupling or pilot-induced oscillations is introduced. The theory is based on a structural model of the human pilot. A methodology is presented for the prediction of 1) handling qualities levels, 2) pilot-induced oscillation rating levels, and 3) a frequency range in which pilot-induced oscillations are likely to occur. Although the dynamics of the force-feel system of the cockpit inceptor is included, the methodology will not account for effects attributable to control sensitivity and is limited to single-axis tasks and, at present, to linear vehicle models. The theory is derived from the feedback topology of the structural model and an examination of flight test results for 32 aircraft configurations simulated by the U.S. Air Force/CALSPAN NT-33A and Total In-Flight Simulator variable stability aircraft. An extension to nonlinear vehicle dynamics such as that encountered with actuator saturation is discussed.

A control-theoretic procedure for modelling human pilot pursuit control behaviour is presented. The procedure allows for the development of human pilot behavioural models in multi-loop flight control tasks in a simplified framework emphasizing frequency-domain techniques. Beginning with the primary control loops, each control loop is closed using a combination of output-rate feedback and output-error feedback. It is demonstrated that this approach can accommodate any vehicle dynamics that can be stabilized by a human pilot. In addition, the modelling approach identifies vehicle dynamics that approach the limits of human pilot controllability. The well-documented increase in pilot effective time delays that have been shown to accompany vehicle dynamics requiring lead compensation is also replicated by this modelling approach. A method for predicting handling-qualitiy levels that would be assigned to a particular vehicle and task is presented. A visual cue model is included, which can approximate the effects of degraded visual cues. It is shown that this model can be used to reproduce the three most important measurable effects of visual cue quality upon human operator dynamics, namely, an increase in 'effective' pilot time delay, a decrease in crossover frequency, and an increase in error-injected remnant. The ability of the modelling procedure to accommodate different levels of pilot aggressiveness in completing manoeuvres is demonstrated. Finally, an application to a multi-axis rotorcraft flight control problem is presented.

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