Design and real-time validation of a robust fixed-order H2 optimal controller for micro aerial vehicle, named Sarika-2, is presented. Strengthened discrete optimal projection equations, which approximate the first-order necessary optimality condition, are used for the controller design. Effect of low-frequency gust disturbance and high-frequency sensor noise is alleviated through the output sensitivity and control sensitivity minimization. The novelty of this paper is that a single robust H2 controller, which is designed at the central operating point, ensures simultaneous stabilization of the radio-controlled aircraft over the entire cruise speed range of 16–26 m/s. The controller is implemented on a digital-signal-processor-based flight computer, and subsequently, it is validated through the real-time hardware-in-loop-simulation. The responses obtained from the hardware-in-loop-simulation compare well with those obtained from the off-line simulation.
