Flight Dynamics takes a new approach to the science and mathematics of aircraft flight, unifying principles of aeronautics with contemporary systems analysis. While presenting traditional material that is critical to understanding aircraft motions, it does so in the context of modern computational tools and multivariable methods. Robert Stengel devotes particular attention to models and techniques that are appropriate for analysis, simulation, evaluation of flying qualities, and control system design. He establishes bridges to classical analysis and results, and explores new territory that was treated only inferentially in earlier books. This book combines a highly accessible style of presentation with contents that will appeal to graduate students and to professionals already familiar with basic flight dynamics. Dynamic analysis has changed dramatically in recent decades, with the introduction of powerful personal computers and scientific programming languages. Analysis programs have become so pervasive that it can be assumed that all students and practicing engineers working on aircraft flight dynamics have access to them. Therefore, this book presents the principles, derivations, and equations of flight dynamics with frequent reference to MATLAB functions and examples. By using common notation and not assuming a strong background in aeronautics, Flight Dynamics will engage a wide variety of readers. Introductions to aerodynamics, propulsion, structures, flying qualities, flight control, and the atmospheric and gravitational environment accompany the development of the aircraft's dynamic equations.

1. Introduction 
Elements of the Airplane 
Airframe Components 
Propulsion Systems 
Representative Flight Vehicles 
Light General Aviation Aircraft 
Variable-Stability Research Aircraft 
Sailplane 
Business Jet Aircraft 
Turboprop Commuter Aircraft 
Small Commercial Transport Aircraft 
Large Commercial Transport Aircraft 
Supersonic Transport Aircraft 
Fighter/Attack Aircraft 
Bomber Aircraft 
Space Shuttle 
Uninhabited Air Vehicle 
The Mechanics of Flight 
References for Chapter 1 

2. Exploring the Flight Envelope 
The Earth's Atmosphere 
Pressure, Density, and the Speed of Sound 
Viscosity, Humidity, and Rain 
Wind Fields and Atmospheric Turbulence 
Kinematic Equations 
Translational Position and Velocity 
Angular Orientation and Rate 
Airflow Angles 
Summary of Axis Systems and Transformations 
Forces and Moments 
Alternative Axis Systems 
Aerodynamic Forces and Moments 
Static Aerodynamic Coefficients 
Lift 
Drag 
Pitching Moment 
Side Force 
Yawing Moment 
Rolling Moment 
Ground Effect 
Thrusting Characteristics of Aircraft Powerplants 
Propellers 
Reciprocating Engines 
Turboprop, Turbofan, and Turbojet Engines 
Ramjet and Scramjet Engines 
Steady Flight Performance 
Straight-and-Level Flight 
Steady Flight Envelope 
Cruising Range 
Gliding Flight 
Climbing Flight 
Maneuvering Envelope 
Steady Turning Flight 
References for Chapter 2 

3. The Dynamics of Aircraft Motion 
Momentum and Energy 
Translational Momentum, Work, Energy, and Power 
Energy-Changing Maneuvers 
Angular Momentum and Energy 
Dynamic Equations for a Flat Earth 
Rigid-Body Dynamic Equations 
Scalar Equations for a Symmetric Aircraft 
Alternative Frames of Reference 
Inertial Reference Frames 
Body-Axis Reference Frames 
Velocity- and Wind-Axis Reference Frames 
Air-Mass-Relative Reference Frame 
Direction Cosines and Quaternions 
Acceleration Sensed at an Arbitrary Point 
Dynamic Equations for a Round, Rotating Earth 
Geometry and Gravity Field of the Earth 
Rigid-Body Dynamic Equations 
Aerodynamic Effects of Rotational and Unsteady Motion 
Pitch-Rate Effects 
Angle-of-Attack-Rate Effects 
Yaw-Rate Effects 
Roll-Rate Effects 
Effects of Wind Shear and Wake Vortices 
Aerodynamic Effects of Control 
Elevators, Stabilators, Elevons, and Canards 
Rudders 
Ailerons 
Spoilers and Flaps 
Other Control Devices 
Isolated Control Surfaces 
Trailing-Edge Flaps 
Solution of Nonlinear Differential Equations 
Numerical Algorithms for Integration 
Equations of Motion 
Representation of Data 
Trimmed Solution of the Equations of Motion 
References for Chapter 3 

4. Methods of Analysis and Design 
Local Linearization of Differential Equations 
Stability and Control Derivatives 
Incorporating Unsteady Aerodynamic Effects 
Symmetric Aircraft in Wings-Level Flight 
Longitudinal Equations of Motion 
Lateral-Directional Equations of Motion 
Stability-Axis Equations of Motion 
Solution of Linear Differential Equations 
Numerical Integration and State Transition 
Static and Quasistatic Equilibrium Response to Inputs 
Initial Response to Control Inputs 
Controllability and Observability of Motions 
Truncation and Residualization 
Stability and Modes of Motion 
Stability of Transient Response 
Fourier and Laplace Transforms 
Modes of Aircraft Motion 
Phase Plane 
Frequency-Domain Analysis 
Transfer Functions and Frequency Response 
Nyquist Plot and Nichols Chart 
Root Locus 
Dealing with Uncertainty 
Random Variables and Processes 
Dynamic Response to Random Inputs and Initial Conditions 
Effects of System Parameter Variations 
System Survey 
Monte Carlo Evaluation 
Stochastic Root Locus 
Linear Aeroelasticity 
Stress, Strain, and Material Properties 
Monocoque and Semi-Monocoque Structures 
Force and Moments on a Simple Beam 
Static Deflection of a Simple Beam under Load 
Vibrations of a Simple Beam 
Coupled Vibrations of an Elastically Restrained Rigid Airfoil 
Vibrations of a Complex Structure 
The Four-Block Structure 
Fuel Slosh 
Introduction to Flying Qualities and Flight Control Systems 
Cognitive/Biological Models and Piloting Action 
Aircraft Flying Qualities 
Linear-Quadratic Regulator 
Steady-State Response to Command Input 
Implicit Model-Following and Integral Compensation 
Optimal State Estimation 
Linear-Quadratic-Gaussian Regulator 
Design for Stochastic Robustness 
References for Chapter 4 

5. Longitudinal Motions 
Longitudinal Equations of Motion 
Reduced-Order Models of Long-Period Modes 
Second-Order Phugoid-Mode Approximation 
Effects of Compressibility 
Effects of Altitude Variation 
Effects of Wind Shear 
Reduced-Order Model of the Short-Period Mode 
Second-Order Approximation 
Effects of Compressibility and High Angle of Attack 
Coupled Phugoid/Short-Period Dynamics 
Residualized Phugoid Mode 
Fourth-Order Model 
Longitudinal Flying Qualities 
Control Mechanisms, Stick-Free Stability, and Trim 
Elevator Control Mechanism 
Short-Period/Control-Mechanism Coupling 
Control Force for Trimmed Flight 
Elevator Angle and Stick Force per g 
"Tail-Wags-Dog" Effect 
Longitudinal Aeroelastic Effects 
Truncated and Residualized Elastic-Body Models 
Coupling of the Short Period with a Single Elastic Mode 
References for Chapter 5 

6. Lateral-Directional Motions 
Lateral-Directional Equations of Motion 
Reduced-order Model of the Dutch Roll Mode 
Reduced-order Model of Roll and Spiral Modes 
Coupled Lateral-Directional Dynamics 
A Truncated Dutch roll/Roll Model 
Residualized Lateral-Directional Models 
Fourth-Order Model 
Lateral-Directional Flying Qualities 
Control Mechanisms, Nonlinearity, and Time Delay 
Rudder Control Mechanism 
Dutch roll/Rudder Coupling 
Quasi-linear Representation of Nonlinearity 
Quasi-linear Root Locus Analysis 
Roll-Spiral/Aileron Coupling 
Spoiler Nonlinearity and Time Delay 
Lateral-Directional Aeroelastic Effects 
Equilibrium Response to Control 
Eigenvalues and Root Locus Analysis of Parameter Variations 
Response to Initial Conditions and Step Control Inputs 
References for Chapter 6 

7. Coupled Longitudinal and Lateral-Directional Motions 
Small-amplitude Motions 
Effects of Rotating Machinery 
Asymmetric Inertial and Aerodynamic Properties 
Asymmetric Flight Condition and Constant Angular Rate 
Coupling Controls 
Inertial Coupling of Pitch and Yaw Motions 
Fifth-Order Model of Coupled Dynamics 
Truncated and Residualized Fourth-Order Models 
Response to Controls During Steady Rolling 
Multiple Equilibrium Points 
Second-order Examples of Multiple Equilibria 
Effects of Cross-Coupling and Control on Rolling Equilibrium 
Flight at High Angle of Attack 
High-Angle-of-Attack Aerodynamics and Control Effects 
Fully Developed Spins 
Simulated Motions of a Business Jet Aircraft 
Stability of High-Angle-of-Attack Maneuvers 
Pilot-Aircraft Interactions 
Gain-Scheduled Stability and Command Augmentation 
Adaptive Neural Network Control 
Robust Nonlinear-Inverse-Dynamic Control 
References for Chapter 7 
Epilogue

Appendices 
Constants, Units, and Conversion Factors 
Mathematical Model and Six-Degree-of-Freedom Simulation of a Business Jet Aircraft 
Main Program for Analysis and Simulation (FLIGHT) 
Low-Angle-of-Attack, Mach-Dependent Model (LoAeroModel) 
High-Angle-of-Attack, Low-Subsonic Model (HiAeroModel) 
Supporting Functions 
Equations of Motion (EoM) 
Cost Function for Aerodynamic Trim (TrimCost) 
Direction Cosine Matrix (DCM) 
Linear System Matrices (LinModel) 
Wind Field (WindField) 
Atmospheric State (Atmos) 
Linear System Survey 
Main Program for Analysis and Simulation (SURVEY) 
Supporting Functions 
Reduced-Order Models (LonLatDir) 
Transient Response (Trans) 
Static Response (Static) 
Controllability and Observability (ConObs) 
Natural Frequency (NatFreq) 
Stability and Modes of Motion (StabMode) 
Paper Airplane Program 
Bibliography of NASA Reports Related to Aircraft Configuration Aerodynamics

Robert F. Stengel is Professor and former Associate Dean of Engineering and Applied Science at Princeton University, where he also directs the Program on Robotics and Intelligent Systems. He is the author of "Optimal Control and Estimation". He was a principal designer of the Apollo Lunar Module manual control logic.

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