Abstract
A multivariable z-domain linear technique is presented for analyzing a simplified linear HWIL (hardware-in-the-loop) simulation model. Four complementary methods are given, consisting of singular value plots of the input LTF (loop transfer function), multivariable stability margins, closed-loop z-plane poles and zeros of the airframe, and the closed-loop system time response.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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