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Table 6 Average Error Comparison Table of NominalTest CaseNominal Case Criteria AVRSeg A P A 0.26%Q A 0.92%S A 7.89%C A 16.22%R ASeg B P B 22.68%Q B 3.34%S B 20.94%C B 11.11%R BSeg C P C 5.78%Q C 0.84%S C 11.43%C C 6.67%R CSeg D P D 3.04%Q D 30.83%S D 6.96%C D 3.24%R D2 Magni, J.-F., Bennani, S., and Terlouw, J., Robust FlightControl: A Design Challenge, Springer-Verlag, 1997.3 Liu, H., \Real-Time System Simulation using COTS for°ight cotnrol integration," AIAA Modeling and SimulationTechnologies Conference & Exhibit, August AIAA Paper A01-37308,2001.4 The Opal-RT Technologies Inc., RT LAB 4.2 User's Guide,September 2000.5 Robinson, P., \The Modeling of Turbulence and Downburstsfor Flight Simulators," Tech. Rep. # 339, UTIAS, 1991.6 GARTEUR, \RCAM Preliminary Design Document," Tech.Rep. TP-088-9, Group for Aeronautical Research and Technologyin Europe (GARTEUR), Action Group FM (AG08), 1995.7 Francis, B., A Course in H 1 Control Theory, Springer-Verlag, 1987.8 The Mathworks Inc., Writing S-Functions (Version 3), October1998.9 Harman, D. and Liu, H., \Robust Flight Control: A Real-Time Simulation Investigation," International Council of theAeronautical Sciences (ICAS), May (accepted on 18-Oct-2001),2002.this upgraded RCAM model matched the simulationresults of the original RCAM model. 6 The comparisonbetween the CMEX-¯le and M-¯le RCAM simulationmodels brought to light the realization that theformer runs approximately 20 times faster, in termsof clock time. With minor exception of the ¯rst°ight segment results (showing small discrepanciesin °ight path), each of segments B, C and D showedinsigni¯cant error between the M-¯le and CMEX-¯leo²ine simulations. It is obvious, from the resultsof this paper, that the CMEX-¯le RCAM model isthe superior choice for simulation. Further, o®-linesimulation results have been analyzed extensively,based on the evaluation criteria. Comparison workshows satisfactory results as well.The next step, in this area of research, is to implementthe CMEX-¯le RCAM model into the realtime environment using RT-LAB. Real-time simulationsneed to be conducted to evaluate the designcriteria. Comparison work will also be performed betweeno®-line results and real-time results and amongdi®erent robust controllers. It is beyond the scope ofthis paper and is the topic presented in another paper.9References1 GARTEUR, \Robust Flight Control Design Challenge ProblemFormulation and Manual: The Research Civil AircraftModel (RCAM)," Tech. Rep. TP-088-3, Group for AeronauticalResearch and Technology in Europe (GARTEUR), ActionGroup FM (AG08), 1997.9 of 9American Institute of Aeronautics and Astronautics Paper 2002-4473