Airship_KLat:

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   The lateral-directional control laws for an airship.
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   Form:
   d = Airship_KLat( action, data )
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   ------
   Inputs
   ------
   action        (:)   String name of action to take. Choices are:
                          * 'init'        ...  Supply statespace controllers and 
                                                             initialize matrices
                          * 'update'      ...  Supply the error inputs and compute 
                                                                      the controls
                          * 'reset'       ...  Reset controller states to zero
   data          (.)   Data structure required for action
                          if action == 'init'
                             - data.k_rr  ...  statespace controller, 
                                                       r -to- rudder
                             - data.k_rv  ...  statespace controller, 
                                                       v -to- rudder
                             - data.k_ap  ...  statespace controller, 
                                                       p -to- aileron (diff flaps)
                             - data.rate  ...  update rate [Hz]
                          if action == 'update'
                             - data.p     ...  roll rate error         [rad/s]  
                             - data.r     ...  yaw rate error          [rad/s] 
                             - data.v     ...  lateral velocity error  [m/s] 

   -------
   Outputs
   -------
   d             (.)   Data structure of control outputs
                             - d.dRUD_sym ...  Symmetric rudder command      [rad]
                             - d.dAIL     ...  Aileron command (diff flaps)  [rad]

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Children:

Common: Control/C2DZOH