The simulation makes a few simplifications which the following paragraphs explain.
First, the sensors and controls are assumed to have no lag. Moreover,
the simulation does not model observer dynamics; variables such as
are simply used directly. However, Gaussian noise is added to
the sensed and observed variables before use by the controller and
parameter estimator.
The simulation does not check control rate limits, but it does check position limits.
The simulation models the control system as a continous control. It uses the same time step, 0.01 seconds, as the airframe. The parameter identification also operates 100 times per second; however, it shall be seen that intentionally slowing it can help conditioning problems.