Abstract: A method for sensing a takeoff of an aircraft includes receiving a rate of change in vertical motion of the aircraft, determining whether the rate of change in vertical motion of the aircraft exceeds a first threshold, integrating the rate of change in vertical motion of the aircraft and outputting a virtual altitude signal, responsive to receiving the indication that a portion of the aircraft is contacting a surface, delaying the virtual altitude signal through a discrete low pass filter and outputting a delayed virtual altitude signal, subtracting the delayed virtual altitude signal from the virtual altitude signal to output an altitude perturbation signal, determining whether the altitude perturbation signal exceeds a second threshold value, and outputting an indication that the portion of the aircraft is not contacting the surface responsive to the rate of change in the vertical motion of the aircraft and the altitude perturbation signal.

Abstract: A method for sensing a takeoff of an aircraft includes receiving a rate of change in vertical motion of the aircraft, determining whether the rate of change in vertical motion of the aircraft exceeds a first threshold, integrating the rate of change in vertical motion of the aircraft and outputting a virtual altitude signal, responsive to receiving the indication that a portion of the aircraft is contacting a surface, delaying the virtual altitude signal through a discrete low pass filter and outputting a delayed virtual altitude signal, subtracting the delayed virtual altitude signal from the virtual altitude signal to output an altitude perturbation signal, determining whether the altitude perturbation signal exceeds a second threshold value, and outputting an indication that the portion of the aircraft is not contacting the surface responsive to the rate of change in the vertical motion of the aircraft and the altitude perturbation signal.

Abstract: A method for sensing a force applied to an aircraft includes receiving a derivative of the acceleration of a motion of a portion of the aircraft, determining whether the derivative of the acceleration of the motion of the portion of the aircraft exceeds a threshold, and outputting an indication that a force has been applied to the portion of the aircraft responsive to determining that the derivative of the acceleration of motion of the portion of the aircraft exceeds the threshold.

Abstract: A system for sensing a force applied to an aircraft includes a first sensor, a second sensor, and a processor operative to define a first velocity vector as a function of a first velocity due to a rotation motion of the aircraft, define a second velocity vector as a function of a second velocity due to the rotation motion of the aircraft, define an instant axis of rotation of the aircraft as a function of the first velocity vector and the second velocity vector, determine whether a force has been exerted on a first portion of the aircraft, and output an indication that a force has been exerted on the first portion of the aircraft responsive to determining that the force has been exerted on the first portion of the aircraft.

Abstract: A system for sensing a force applied to an aircraft includes a first sensor, a second sensor, and a processor operative to define a first velocity vector as a function of a first velocity due to a rotation motion of the aircraft, define a second velocity vector as a function of a second velocity due to the rotation motion of the aircraft, define an instant axis of rotation of the aircraft as a function of the first velocity vector and the second velocity vector, determine whether a force has been exerted on a first portion of the aircraft, and output an indication that a force has been exerted on the first portion of the aircraft responsive to determining that the force has been exerted on the first portion of the aircraft.

Abstract: A method for sensing a force applied to an aircraft includes receiving a derivative of the acceleration of a motion of a portion of the aircraft, determining whether the derivative of the acceleration of the motion of the portion of the aircraft exceeds a threshold, and outputting an indication that a force has been applied to the portion of the aircraft responsive to determining that the derivative of the acceleration of motion of the portion of the aircraft exceeds the threshold.

Abstract: A computer-implemented method to optimize control laws (CLaws) includes inserting a unit delay downstream of at least one gain in a system model to define an extended system model and linearizing the extended system model to define an extended linear state model. On a computer at least one matrix is computed from the extended linear model. A control law is optimized using a plurality of linear models from a linear model library computed with the at least one matrix.

Abstract: A method to optimize control laws includes: computing at least one matrice from an extended linear model and optimizing a control law using linear models computed with the at least one matrice