Controlling aircraft to avoid terrain obstacles using reduced order closed loop models

A method of controlling an aircraft, comprising:

• identifying, by a computing system on an aircraft, a first plurality of command signals derived from an input received from one or more inceptors at a time point to control navigation of the aircraft through an environment;
• attenuating, by the computing system, the first plurality of command signals using a fade function over a time window relative to the time point the input is received from the one or more inceptors to generate a second plurality of command signals;
• inputting, by the computing system, the second plurality of command signals generated by the fade function to a reduced order model related to a full order architecture to generate one or more predicted paths for the aircraft through the environment over the time window;
• determining, by the computing system, that at least one predicted path of the one or more predicted paths intersects with an obstacle in the environment during the time window;
• generating, by the computing system, a location to which to navigate the aircraft to avoid the obstacle responsive to determining that the at least one predicted path intersects with the obstacle;
• and
• performing, by the computing system, an action to direct the aircraft to the location.