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CAD planform with colour-coded canards and leading and trailing-edge surfaces, nose pointing left.
[Proposed planform with canards and distributed control surfaces.]

The final estimated control-effectiveness matrix connects each control channel to roll, pitch and yaw moments. Line thickness represents the magnitude of the estimated contribution.

Estimated control-effectiveness connections between six control channels and three moment axes.
[Estimated control effectiveness across six control channels.]

At one second, the left drag rudder’s effectiveness changes to 30% of its original value. The traces show the recorded allocation and achieved controls. Each channel uses a fixed scale normalised to its peak over the full recording.

[Allocated and achieved control channels during a simulated effectiveness loss. Half-speed replay.]

Observed behaviour updates the estimate of control effectiveness, which feeds back into control allocation.

Selected relationships between control allocation, observed response and effectiveness estimation.
[Control-effectiveness estimation and allocation.]

This recorded test introduces a change in control effectiveness and tracks the estimate as it adjusts.

Effectiveness-estimation error over time in a linear simulation.
[Effectiveness-estimation error in a linear simulation.]