Incremental Nonlinear Dynamic Inversion (INDI) is a popular control approach for highly nonlinear systems, like novel aircraft configurations. The thesis addresses remaining open challenges of INDI, such as consideration of different control effector dynamics, including rate and acceleration saturations, and formulating a holistic theory of continuous-discrete INDI. Also, a novel algorithm for the control allocation approach Redistributed Scaled Pseudoinverse (RSPI) as part of INDI is developed.
Stefan Anton Raab (Fri,) studied this question.