Advancements in incremental nonlinear dynamic inversion and its components: A survey on INDI – Part Ⅱ

Incremental Nonlinear Dynamic Inversion (INDI) is a control approach that has gained popularity in flight control over the past decade. Besides the INDI law, several common additional components complement an INDI-based controller. This paper, the second part of a two-part series of surveys on INDI, aims to summarize the modern trends in INDI and its related components. Besides a comprehensive components specification, it addresses their most common challenges, compares different variants, and discusses proposed advances. Further important aspects of INDI are gain design, stability, and robustness. This paper also provides an overview of research conducted concerning these aspects. This paper is written in a tutorial style to familiarize researchers with the essential specifics and pitfalls of INDI and its components. At the same time, it can also serve as a reference for readers already familiar with INDI.