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Design of Control Laws and State
Observers for Fixed-Wing UAVs
This page intentionally left blank
Design of Control Laws
and State Observers for
Fixed-Wing UAVs
Simulation and Experimental
Approaches
Arturo Tadeo Espinoza-Fraire

Faculty of Engineering, Science, and Architecture
University Juárez of the Durango State
Gómez Palacio, Durango, Mexico
Alejandro Enrique Dzul López

Electrical and Electronic Engineering Department
Technological Institute of La Laguna
Torreón, Coahuila, Mexico
Ricardo Pavel Parada Morado

Academy of Engineering in Manufacturing Technologies
Polytechnic University of Gómez Palacio
José Armando Sáenz Esqueda

Faculty of Engineering, Science, and Architecture
University Juárez of the Durango State
Elsevier
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The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom
50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States
Copyright © 2023 Elsevier Inc. All rights reserved.
MATLAB® is a trademark of The MathWorks, Inc. and is used with permission.

The MathWorks does not warrant the accuracy of the text or exercises in this book.
This book’s use or discussion of MATLAB® software or related products does not constitute endorsement
or sponsorship by The MathWorks of a particular pedagogical approach or particular use of the
MATLAB® software.
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Notices
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broaden our understanding, changes in research methods, professional practices, or medical treatment
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ISBN: 978-0-323-95405-1
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Publisher: Matthew Deans

Acquisitions Editor: Giglio Chiara
Editorial Project Manager: Sara Greco
Production Project Manager: Prasanna Kalyanaraman
Cover Designer: Mark Rogers
Typeset by VTeX
Contents
List of figures ix
List of tables xvii
Preface xix
Acknowledgments xxi
Synopsis xxiii
1 Introduction 1
1.1 Classification of UAVs 1
1.2 Nonmilitary applications of fixed-wing UAVs 1
1.3 Control systems in fixed-wing UAVs 2
1.4 State observer systems in fixed-wing UAVs 4
2 Aerodynamic principles 7
2.1 The importance of aerodynamic principles 7
2.1.1 The atmosphere 8
2.1.2 Atmospheric pressure 8
2.1.3 Standard atmosphere 8
2.1.4 Air temperature 9
2.1.5 Air density 9
2.1.6 Airplane wing 10
2.1.7 Bernoulli theorem 11
2.1.8 The center of pressure 11
2.2 Forces acting in flight 12
2.2.1 Flight opposition (resistance) 13
2.2.2 Thrust 13
2.2.3 Lift 14
2.3 Axes of an airplane 14
2.3.1 Aircraft control surfaces 14
2.3.2 The structure of an airplane 17
2.4 Concluding remarks 18
3 Equations of motion of a fixed-wing UAV 19

3.1 Control surfaces of a fixed-wing MAV 19
3.2 Frame coordinates in fixed-wing UAVs 19
3.3 Governing physics of a fixed-wing UAV 20
3.4 Motion of a rigid body 21
3.5 Kinematic model 24
vi Contents
3.6 Uncoupled model of the fixed-wing UAV 28

3.6.1 Longitudinal dynamics 28
3.6.2 Directional and lateral dynamics 30
3.6.3 Change of variables 33
4 Linear controllers 35
4.1 PD and PID controllers 35
4.2 LQR controller 38
4.3 LQR controller with the discrete-time Kalman filter 43
5 Nonlinear controllers 49
5.1 Nested saturation controller 49
5.2 Backstepping controller 52
5.3 Sliding mode controller 54
5.4 Nested saturation with sliding mode 57
5.5 Nested saturation with 2-SM 60
5.6 Nested saturation with HOSM 61
5.7 Backstepping with SM 63
5.8 Backstepping with 2-SM 67
5.9 Backstepping with HOSM 69
5.10 MIT rule based on the gradient method with sliding mode theory 72
6 State observers 89
6.1 Applications and concepts of state observers in control theory 89
6.2 Complementary filters 90
6.3 Sliding mode observers 91
6.3.1 Sliding surface 91
6.3.2 Shear effect and sliding patch 92
6.3.3 System damping 93
6.4 Nonlinear extended state observer 94
6.5 Backstepping observer 95
6.6 Simulation results of the control laws with observers 104
6.6.1 PD control law with observers 104
6.6.2 Backstepping control law with observers 105
6.6.3 Roll motion simulations with PD control law with
observers 105
6.6.4 Yaw motion simulations with PD control law with
observers 108
6.6.5 Altitude motion simulations with PD control law with
observers 108
6.6.6 Roll motion simulations with backstepping control law with
observers 112
Contents vii
6.6.7 Yaw motion simulations with backstepping control law

with observers 115
6.6.8 Altitude movement simulations with backstepping control
law with observers 115
7 Testbed and experimental results 121

7.1 Experimental testbed 121
7.2 Motors or actuators in a testbed 122
7.3 Inertial measurement unit (IMU) 123
7.4 Telemetry 123
7.5 Optocoupler 124
7.6 Microcontroller and altimeter 124
7.7 Microprocessor Rabbit 6000 125
7.8 Li-po battery 129
7.9 Experimental results for linear and nonlinear controllers 129
7.9.1 PD controller 129
7.9.2 PID controller 131
7.9.3 LQR controller 134
7.9.4 LQR controller with discrete-time Kalman filter 136
7.9.5 Backstepping controller 136
7.10 Experimental results for linear and nonlinear observers 140
7.10.1 Luenberger observer applied to a fixed-wing UAV with PD
control law 140
7.10.2 SMO applied to a fixed-wing UAV with PD control law 146
7.10.3 NESO applied to a fixed-wing UAV with PD control law 150
7.10.4 SMO applied to a fixed-wing UAV with backstepping
control law 154
7.10.5 NESO applied to a fixed-wing UAV with backstepping
control law 162
A Mathematical review 171

A.1 Vectors 171
A.2 Linear transformations 172
A.3 Euclidean norm 172
A.4 Matrices 172
A.5 Spectral norm 175
A.6 P-norms 176
A.7 Dyadic product, cross product, and antisymmetric matrix 177
A.8 Topological concepts 179
A.8.1 Sets 179
A.8.2 Metric spaces 180
A.8.3 Linear independence 181
viii Contents
A.8.4 Sequence convergence 181

A.9 Functions 181
A.9.1 Continuous functions 181
A.9.2 Differentiable functions 183
A.9.3 Mean value theorem 184
A.9.4 Implicit function theorem 185
A.9.5 Gronwall–Bellman inequality 185
A.10 Contraction mapping 186
B Kinematics and dynamics background 189

B.1 Kinematics 189
B.2 Dynamics 191
C Stability in the Lyapunov sense 193

C.1 Direct Lyapunov method 194
D Fundamentals of linear and nonlinear controllers 197

D.1 Fundamentals of linear controllers 197
D.1.1 PID and PD controller theory 197
D.1.2 Linear quadratic regulator (LQR) 198
D.2 Fundamentals of nonlinear controllers 201
D.2.1 Nested saturations 201
D.2.2 Integrator backstepping 203
D.2.3 Sliding mode control 204
D.2.4 Model reference adaptive control (MRAC) 205
E Discrete-time Kalman filter 207
F Linear and nonlinear controllers: programs for the embedded

system 209
F.1 PD controller in altitude 209
F.2 Backstepping controller in altitude 219
G Linear and nonlinear state observers: programs for the embedded

system 231
G.1 Luenberger observer with PD controller in yaw 231
G.2 SMO observer with PD controller in altitude 241
H MATLAB® program to graph 253
I Altimeter program 255
Bibliography 257
Index 261
List of figures
Fig. 1.1 General control scheme. 4

Fig. 1.2 Block diagram of the MRAS applied to fixed-wing UAVs. 4
Fig. 1.3 General state observers scheme. 5
Fig. 2.1 Schematic of an airfoil section. 10
Fig. 2.2 Airflow around the wing. 11
Fig. 2.3 Center of pressure. 12
Fig. 2.4 Pressure displacement limits. 12
Fig. 2.5 Forces acting in flight. 13
Fig. 2.6 Axis of an airplane. 15
Fig. 2.7 Location of flaps, slats, and spoilers on a wing. 17
Fig. 2.8 Generic airframe. 17
Fig. 3.1 Control surfaces. 20
Fig. 3.2 Fixed coordinate frame E and frame attached to the airplane B. 20
Fig. 3.3 Movement variables of a fixed-wing UAV. 21
Fig. 3.4 Moments and aerodynamic forces in the airplane. 24
Fig. 3.5 Representation z-y-x of Euler angles. 25
Fig. 3.6 Longitudinal movement. 29
Fig. 3.7 The x-, y-, and z-axes in the body of the airplane. 29
Fig. 3.8 Yaw angle. 32
Fig. 3.9 Roll angle. 32
Fig. 4.1 Action of the PD controller on altitude. 37
Fig. 4.2 Action of the PID controller on altitude. 37
Fig. 4.3 Action of the PD controller on yaw. 38
Fig. 4.4 Action of the PID controller on yaw. 38
Fig. 4.5 Action of the PD controller on roll. 39
Fig. 4.6 Action of the PID controller on roll. 39
Fig. 4.7 Action of the LQR controller on altitude. 42
Fig. 4.8 Action of the LQR controller on yaw. 42
Fig. 4.9 Action of the LQR controller on roll. 43
Fig. 4.10 Action of the LQR controller with the discrete-time Kalman filter on
altitude. 45
Fig. 4.11 Action of the LQR controller with the discrete-time Kalman filter on yaw. 45
Fig. 4.12 Action of the LQR controller with the discrete-time Kalman filter on roll. 46
Fig. 5.1 Action of the nested saturation controller on altitude. 51
Fig. 5.2 Action of the nested saturation controller on yaw. 51
Fig. 5.3 Action of the nested saturation controller on roll. 52
Fig. 5.4 Action of the backstepping controller on altitude. 54
Fig. 5.5 Action of the backstepping controller on yaw. 54
Fig. 5.6 Action of the backstepping controller on roll. 55
Fig. 5.7 Action of the sliding mode controller on altitude. 56
x List of figures
Fig. 5.8 Action of the sliding mode controller on yaw. 57

Fig. 5.9 Action of the sliding mode controller on roll. 57
Fig. 5.10 Action of the nested saturation controller with sliding mode on altitude. 58
Fig. 5.11 Action of the nested saturation controller with sliding mode on yaw. 59
Fig. 5.12 Action of the nested saturation controller with sliding mode on roll. 59
Fig. 5.13 Action of the nested saturation controller with 2-SM on altitude. 61
Fig. 5.14 Action of the nested saturation controller with 2-SM on yaw. 61
Fig. 5.15 Action of the nested saturation controller with 2-SM on roll. 62
Fig. 5.16 Action of the nested saturation controller with HOSM on altitude. 63
Fig. 5.17 Action of the nested saturation controller with HOSM on yaw. 64
Fig. 5.18 Action of the nested saturation controller with HOSM on roll. 64
Fig. 5.19 Action of the backstepping controller with sliding mode on altitude. 66
Fig. 5.20 Action of the backstepping controller with sliding mode on yaw. 67
Fig. 5.21 Action of the backstepping controller with sliding mode on roll. 67
Fig. 5.22 Action of the backstepping controller with second-order sliding mode on
altitude. 68
yaw. 69
roll. 70
Fig. 5.25 Action of the backstepping controller with HOSM on altitude. 71
Fig. 5.26 Action of the backstepping controller with HOSM on yaw. 71
Fig. 5.27 Action of the backstepping controller with HOSM on roll. 72
Fig. 5.28 Block diagram of the MRAS applied to a fixed-wing UAV. 73
Fig. 5.29 Adaptive PD controller response for altitude (with disturbances). 76
Fig. 5.30 Control signal of the adaptive PD controller for altitude (with disturbances). 76
Fig. 5.31 Minimization of the cost function for altitude (with disturbances). 77
Fig. 5.32 Response of the adaptive proportional gain controller for altitude (with
disturbances). 77
Fig. 5.33 Response of the adaptive derivative gain controller for altitude (with
disturbances). 78
Fig. 5.34 Zoom of the control signal of the adaptive PD controller for altitude (with
disturbances). 78
Fig. 5.35 Response of the sliding manifold controller with adaptive proportional gain
for altitude (with disturbances). 79
Fig. 5.36 Response of the sliding manifold controller with adaptive derivative gain
for altitude (with disturbances). 79
Fig. 5.37 Adaptive PD controller response for the yaw angle (with disturbances). 80
Fig. 5.38 Control signal of the adaptive PD controller for the yaw angle (with
disturbances). 80
Fig. 5.39 Minimization of the cost function for the yaw angle (with disturbances). 81
Fig. 5.40 Response of the adaptive proportional gain for the yaw angle (with
disturbances). 81
Fig. 5.41 Response of the adaptive derivative gain for the yaw angle (with
disturbances). 82
Fig. 5.42 Zoom of the control signal of the adaptive PD controller for the yaw angle
(with disturbances). 82
List of figures xi
Fig. 5.43 Response of the sliding manifold in the adaptive proportional gain for the
yaw angle (with disturbances). 83
Fig. 5.44 Response of the sliding manifold in the adaptive derivative gain for the yaw
angle (with disturbances). 83
Fig. 5.45 Adaptive PD controller response for the roll angle (with disturbances). 84
Fig. 5.46 Control signal of the adaptive PD controller for the roll angle (with
disturbances). 84
Fig. 5.47 Minimization of the cost function for the roll angle (with disturbances). 85
Fig. 5.48 Response of the adaptive proportional gain for the roll angle (with
disturbances). 85
Fig. 5.49 Response of the adaptive derivative gain for the roll angle (with
disturbances). 86
Fig. 5.50 Zoom of the control signal of the adaptive PD controller for the roll angle
(with disturbances). 86
Fig. 5.51 Response of the sliding manifold in the adaptive proportional gain for the
roll angle (with disturbances). 87
Fig. 5.52 Response of the sliding manifold in the adaptive derivative gain for the roll
angle (with disturbances). 87
Fig. 6.1 Roll angle estimation for the three state observers. 106
Fig. 6.2 Roll angular velocity estimate for the three state observers. 106
Fig. 6.3 Roll angle estimation error for the three state observers. 106
Fig. 6.4 Roll angular velocity estimation error for the three state observers. 107
Fig. 6.5 Extended state of NESO. 107
Fig. 6.6 PD control signal for roll motion. 107
Fig. 6.7 Yaw angle estimation for the three state observers. 108
Fig. 6.8 Yaw rate estimation for the three state observers. 108
Fig. 6.9 Yaw angle estimation error for the three state observers. 109
Fig. 6.10 Yaw angular rate estimation error for the three state observers. 109
Fig. 6.11 Extended state for yaw movement. 109
Fig. 6.12 PD control signal for yaw movement. 110
Fig. 6.13 Pitch angle estimation for the three state observers. 110
Fig. 6.14 Pitch angular velocity estimate for the three state observers. 110
Fig. 6.15 Pitch angle estimation error for the three state observers. 111
Fig. 6.16 Pitch angular velocity estimation error for the three state observers. 111
Fig. 6.17 Extended state for pitching motion. 111
Fig. 6.18 Simulation of the altitude movement with PD control for the three
observers. 112
Fig. 6.19 PD control signal for pitch motion. 112
Fig. 6.20 Roll angle estimation for the three state observers. 113
Fig. 6.21 Roll angular velocity estimate for the three state observers. 113
Fig. 6.22 Roll angle estimation error for the three state observers. 113
Fig. 6.23 Roll angular velocity estimation error for the three state observers. 114
Fig. 6.24 Extended state for roll motion. 114
Fig. 6.25 Backstepping control signal for roll motion. 114
Fig. 6.26 Yaw angle estimation for the three state observers. 115
Fig. 6.27 Yaw rate estimation for the three state observers. 115
Fig. 6.28 Yaw angle estimation error for the three state observers. 116
Fig. 6.29 Yaw angular rate estimation error for the three state observers. 116
xii List of figures
Fig. 6.30 Extended state for yaw motion. 116

Fig. 6.31 Backstepping control signal for yaw movement. 117
Fig. 6.32 Pitch angle estimation for the three state observers. 117
Fig. 6.33 Pitch angular velocity estimates for the three state observers. 117
Fig. 6.34 Pitch angle estimation error for the three state observers. 118
Fig. 6.35 Pitch angular velocity estimation error for the three state observers. 118
Fig. 6.36 Extended state for pitching motion. 118
Fig. 6.37 Altitude movement simulation with backstepping control for the three
observers. 119
Fig. 6.38 Backstepping control signal for pitch motion. 120
Fig. 7.1 Brushless motor. 122
Fig. 7.2 Example of servo motor used for elevator, rudder, and aileron. 122
Fig. 7.3 Inertial measurement unit MIDG II. 123
Fig. 7.4 Xbee to obtain the variables from the fixed-wing UAV. 123
Fig. 7.5 Optocoupler. 124
Fig. 7.6 Microcontroller (Propeller P8X32A). 125
Fig. 7.7 Altimeter (MS5607). 125
Fig. 7.8 Microprocessor Rabbit (RCM6000). 126
Fig. 7.9 PCB complementary for the microprocessor Rabbit (RCM6000). 126
Fig. 7.10 Radio control Futaba (T7C). 127
Fig. 7.11 Linear transformation. 127
Fig. 7.12 Embedded system mounted on the fixed-wing UAV. 128
Fig. 7.13 Electronic system block diagram. 128
Fig. 7.14 Li-po battery. 129
Fig. 7.15 Action of the PD controller for altitude. 130
Fig. 7.16 Action of the PD controller for yaw. 131
Fig. 7.17 PD controller for roll. 132
Fig. 7.18 Action of the PID controller for altitude. 132
Fig. 7.19 Action of the PID controller for yaw. 133
Fig. 7.20 Action of the PID controller for roll. 133
Fig. 7.21 Action of the LQR controller for altitude. 134
Fig. 7.22 Action of the LQR controller for yaw. 135
Fig. 7.23 Action of the LQR controller for roll. 135
Fig. 7.24 Response of the LQR controller with discrete-time Kalman filter for
altitude. 137
Fig. 7.25 Response of the LQR controller with discrete-time Kalman filter for yaw. 137
Fig. 7.26 Response of the LQR controller with discrete-time Kalman filter for roll. 138
Fig. 7.27 Response of the backstepping controller for altitude. 138
Fig. 7.28 Action of the backstepping controller on yaw. 139
Fig. 7.29 Action of the backstepping controller on roll. 139
Fig. 7.30 Results of the experiment applying the Luenberger observer to a fixed-wing
UAV for pitch angle. 141
UAV for pitch angular velocity. 141
Fig. 7.32 Pitch angle estimation error. Results of the experiment applying the
Luenberger observer to a fixed-wing UAV. 141
Fig. 7.33 Pitch angle velocity estimation error. Results of the experiment applying
the Luenberger observer to a fixed-wing UAV. 142
List of figures xiii
Fig. 7.34 Measured altitude. Results of the experiment applying the Luenberger
observer to a fixed-wing UAV. 142
Fig. 7.35 Control signal. Results of the experiment applying the Luenberger observer
to a fixed-wing UAV. 142
UAV for roll angle. 143
UAV for roll angular velocity. 143
Fig. 7.38 Roll angle estimation error. Results of the experiment applying the
Fig. 7.39 Roll angular velocity estimation error. Results of the experiment applying
to a fixed-wing UAV for roll angle. 144
UAV for yaw angle. 144
UAV for yaw angular velocity. 145
Fig. 7.43 Yaw angle estimation error. Results of the experiment applying the
Fig. 7.44 Estimation of the yaw angular velocity. Results of the experiment applying
to a fixed-wing UAV for yaw angle. 146
Fig. 7.46 Results of the experiment applying SMO to a fixed-wing UAV for pitch
angle. 146
angular velocity. 147
Fig. 7.48 Pitch angle estimation error. Results of the experiment applying SMO to a
fixed-wing UAV. 147
SMO to a fixed-wing UAV. 147
Fig. 7.50 Measured altitude. Results of the experiment applying SMO to a
fixed-wing UAV for pitch angle. 148
Fig. 7.51 Control signal. Results of the experiment applying SMO to a fixed-wing
Fig. 7.52 Results of the experiment applying SMO to a fixed-wing UAV for roll
angle. 148
Fig. 7.53 Results of the experiment applying SMO to a fixed-wing UAV for roll
Fig. 7.54 Roll angle estimation error. Results of the experiment applying SMO to a
fixed-wing UAV. 149
Fig. 7.57 Results of the experiment applying SMO to a fixed-wing UAV for yaw
angle. 150
xiv List of figures
Fig. 7.58 Results of the experiment applying SMO to a fixed-wing UAV for yaw
Fig. 7.59 Yaw angle estimation error. Results of the experiment applying SMO to a
fixed-wing UAV. 151
Fig. 7.62 Results of the experiment applying NESO to a fixed-wing UAV for pitch
angle. 152
Fig. 7.63 Results of the experiment applying NESO to a fixed-wing UAV for pitch
Fig. 7.64 Pitch angle estimation error. Results of the experiment applying NESO to a
fixed-wing UAV. 153
NESO to a fixed-wing UAV. 153
Fig. 7.66 Measured altitude. Results of the experiment applying NESO to a
fixed-wing UAV for pitch angle. 153
Fig. 7.67 Control signal. Results of the experiment applying NESO to a fixed-wing
Fig. 7.68 Results of the experiment applying NESO to a fixed-wing UAV for roll
angle. 154
Fig. 7.69 Results of the experiment applying NESO to a fixed-wing UAV for roll
Fig. 7.70 Roll angle estimation error. Results of the experiment applying NESO to a
fixed-wing UAV. 155
Fig. 7.73 Results of the experiment applying NESO to a fixed-wing UAV for yaw
angle. 156
Fig. 7.74 Results of the experiment applying NESO to a fixed-wing UAV for yaw
Fig. 7.75 Yaw angle estimation error. Results of the experiment applying NESO to a
fixed-wing UAV. 157
angle. 158
Fig. 7.80 Pitch angle estimation error. Results of the experiment applying SMO to a
fixed-wing UAV. 159
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pastor, nor any other man than Blaine,—his chosen counsellor in the
great affairs of state; he who was with him when, on that quiet,
happy morning in July, they rode slowly to the depot, and “his fate
was on him in an instant. One moment he stood erect, strong,
confident in the years stretching out peacefully before him;—the
next he lay wounded, bleeding, helpless, doomed to weary weeks of
torture, to silence, and the grave.”
And now, as the hand of Mr. Blaine draws aside the curtain, let us
look in upon the final scene in the life and death of his great friend,
and see, as he saw, the man so deeply, truly loved by the great
nation he had just begun to rule so well.
“Great in life, he was surpassingly great in death. For no cause, in
the very frenzy of wantonness and wickedness, by the red hand of
murder, he was thrust from the full tide of this world’s interest; from
its hopes, its aspirations, its victories, into the visible presence of
death, and he did not quail. Not alone for the one short moment in
which, stunned and dazed, he could give up life, hardly aware of its
relinquishment; but through days of deadly languor; through weeks
of agony, that was not less agony because silently borne; with clear
sight and calm courage he looked into his open grave. What blight
and ruin met his anguished eyes, whose lips may tell? What brilliant,
broken plans; what baffled high ambitions; what sundering of
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household ties! Behind him a proud, expectant nation; a great host
of sustaining friends; a cherished and happy mother, wearing the
full, rich honors of her early toil and tears; the wife of his youth,
whose whole life lay in his; the little boys not yet emerged from
childhood’s day of frolic; the fair, young daughter; the sturdy sons,
just springing into closest companionship, claiming every day and
every hour the reward of a father’s love and care; and in his heart
the eager, rejoicing power to meet all demands. Before him,
desolation and great darkness! And his soul was not shaken.
“His countrymen were thrilled with instant, profound, and universal
sympathy. Masterful in his mortal weakness, he became the centre
of a nation’s love; enshrined in the prayers of a world. But all the
love and all the sympathy could not share with him his suffering. He
trod the wine-press alone. With unfaltering front he faced death.
With unfailing tenderness he took leave of life. Above the demoniac
hiss of the assassin’s bullet he heard the voice of God. With simple
resignation he bowed to the divine decree.
“As the end drew near, his early craving for the sea returned. The
stately mansion of power had been to him the wearisome hospital of
pain, and he begged to be taken from its prison walls, from its
oppressive, stifling air, from its homelessness, and its hopelessness.
Gently, silently, the love of a great people bore the pale sufferer to
the longed-for healing of the sea, to live or to die, as God should
will, within sight of its heaving billows, within hearing of its manifold
voices. With wan, fevered face tenderly lifted to the cooling breeze,
he looked out wistfully upon the ocean’s changing wonders; on its
far sails, whitening in the morning light; on its restless waves, rolling
shoreward to break and die beneath the noonday sun; on the red
clouds of evening, arching low to the horizon; on the serene and
shining pathway of the stars. Let us believe that in the silence of the
receding world he heard the great waves breaking on a further
shore, and felt, already upon his wasted brow, the breath of the
eternal morning.”
XVII.
SECRETARY OF STATE.
R. BLAINE was a member of the cabinets of President

Garfield and of President Arthur for ten months, retiring at
his own request, in January, 1881.
The Foreign Policy of the Garfield administration, as conducted by
Mr. Blaine, was emphatically a Peace Policy. It was without the
motive or disposition of war in any form. It was one of dignity and
uprightness, as a work of twelve hundred and fifty pages, entitled
“Foreign Relations of the United States for 1881,” and another book
entitled “War in South America, and attempt to bring about Peace,
1880-81,” a book of about eight hundred pages, both printed by the
United States Government, and now before us, amply testify.
Its two objects, as distinctly stated by him, were: first, to bring
about peace, and prevent future wars in North and South America;
second, to cultivate such friendly commercial relations with all
American countries as would increase the export trade of the United
States, by supplying those fabrics in which we are abundantly able
to compete with the manufacturing nations of Europe.
The second depended on the first. For three years Chili, Peru, and
Bolivia had been engrossed in war, and the friendly offices of the
United States Government had barely averted it between Chili and
the Argentine Republic, postponed it between Guatemala and
Mexico; so also it might in these South American Republics. War was
threatened between Brazil and Uruguay, and foreshadowed between
Brazil and the Argentine states.
To induce the Spanish American states to adopt some peaceful mode
of adjusting their frequently recurring contentions, was regarded by
President Garfield as one of the most honorable and useful ends to
which the diplomacy of the United States could contribute; and in
the line of the policy indicated, is a letter from Mr. Blaine to Gen. S.
A. Hurlbut, United States Minister to Peru. While it shows the spirit
of the president, it shows as well the hand and heart of his
secretary:—
“Department of State,
“Washington, June 15, 1881.
“Sir:—The deplorable condition of Peru, the
disorganization of its government, and the absence of
precise and trustworthy information as to the state of
affairs now existing in that unhappy country, render it
impossible to give you instructions as full and definite as I
would desire.
“Judging from the most recent despatches from our
ministers, you will probably find on the part of the Chilian
authorities in possession of Peru, a willingness to facilitate
the establishment of the provisional government which
has been attempted by Senor Calderon. If so you will do
all you properly can to encourage the Peruvians to accept
any reasonable conditions and limitations with which this
concession may be accompanied. It is vitally important to
Peru, that she be allowed to resume the functions of a
native and orderly government, both for the purposes of
internal administration and the negotiation of peace. To
obtain this end it would be far better to accept conditions
which may be hard and unwelcome, than by demanding
too much to force the continuance of the military control
of Chili. It is hoped that you will be able, in your necessary
association with the Chilian authorities, to impress upon
them that the more liberal and considerate their policy,
the surer it will be to obtain a lasting and satisfactory
settlement. The Peruvians cannot but be aware of the
sympathy and interest of the people and government of
the United States, and will, I feel confident, be prepared
to give to your representations the consideration to which
the friendly anxiety of this government entitles them.
“The United States cannot refuse to recognize the rights
which the Chilian government has acquired by the
successes of the war, and it may be that a cession of
territory will be the necessary price to be paid for peace....
“As a strictly confidential communication, I inclose you a
copy of instructions sent this day to the United States
minister at Santiago. You will thus be advised of the
position which this government assumes toward all the
parties to this deplorable conflict. It is the desire of the
United States to act in a spirit of the sincerest friendship
to the three republics, and to use its influence solely in the
interest of an honorable and lasting peace.
“JAMES G. BLAINE.”
The appointment of William Henry Trescot as Spanish envoy, with
the rank of Minister Plenipotentiary to the republics of Chili, Peru,
and Bolivia, was done in the same regard, not only of the nation’s
honor, but also of peace and that commerce which brings prosperity
and happiness.
It has long been felt, and is felt deeply to-day, that there are many
kindly offices of state which this great nation may offer to weaker,
feebler, and distressed peoples, for their good and for our glory; that
it is not enough to be simply an example and an asylum, but to be a
potent benefactor in a direct and personal way, teaching them that
peace, not war, is the secret of growth and greatness. This, in effect,
was the object of the peace congress, which was a cherished design
of the administration, and to which Mr. Blaine was fully committed.
No wonder that such a project commanded the thought and enlisted
the sympathies of such men as Garfield and his great premier; and
Mr. Blaine tells us that it was the intention, resolved on before the
fatal shot of July 2d, to invite all the independent governments of
North and South America to meet in such a congress at Washington,
on March 15, 1882, and the invitations would have been issued
directly after the New England tour the president was not permitted
to make. But the invitations were sent out by Mr. Blaine on the 22d
of November, when in Mr. Arthur’s cabinet. It met with cordial
approval in South American countries, and some of them at once
accepted the invitations. But in six weeks President Arthur caused
the invitations to be recalled, or suspended, and referred the whole
matter to congress, where it was lost in debate, just as the Panama
congress was wrecked when Mr. Clay was secretary of state over
fifty years ago.
It was argued that such an assemblage of representatives from
those various states would not only elevate their standard of
civilization, and lead to the fuller development of a continent at
whose wealth Humboldt was amazed, but it would also bring them
nearer us and turn the drift of their European trade to our American
shores. As it is, they have a coin balance of trade against us every
year, of one hundred and twenty millions of dollars, and this money
is shipped from our country to Europe, to pay for their immense
purchases there. Their petroleum comes from us, but crosses the
Atlantic twice before it gets to them, and the middle-men in Europe
receive a larger profit on it than the producers of the oil in north-
western Pennsylvania.
It may be both wise and prudent, in order to completeness of
biography, to state two aspersions,—one of war, and the other of
gain,—cast upon the policy of Mr. Blaine.
William Henry Trescot, in a published letter dated July 17, 1882,
states “his knowledge of certain matters connected with Mr. Blaine’s
administration as secretary of state”:—
“2. As to your designing a war, that supposition is too absurd for
serious consideration. If you had any such purpose it was carefully
concealed from me, and I left for South America with the impression
that I would utterly fail in my mission if I did not succeed in
obtaining an amicable settlement of the differences between the
belligerents.
“3. In regard to the Cochet and Landreau claims, it is sufficient to
say that you rejected the first, absolutely. As to the second, you
instructed General Hurlbut to ask, if the proper time for such request
should come, that Landreau might be heard before a Peruvian
tribunal in support of his claim.
“General Hurlbut, although approving the justice of Landreau’s claim
in his dispatch of Sept. 14, 1881, never brought it in any way to the
notice of the Peruvian government. During my mission in South
America, I never referred to it, so that, in point of fact, during your
secretaryship the Landreau claim was never mentioned by ministers
of the United States, either to the Chilian or Peruvian government. It
could not, therefore, have affected the then pending diplomatic
questions in the remotest degree.”
But for these he appeared and answered, in company with Mr.
Trescot, before the House committee on foreign affairs, Hon. Charles
G. Williams, of Wisconsin, chairman.
“He received a vindication,” is the simple report.
“I think Mr. Blaine has rather enjoyed his opportunity, and his
triumph,” writes one. “It is inspiring to have Mr. Blaine associated
with public affairs again, if only as a witness before a committee.
How the country rings with his name, the moment he breaks silence!
His familiar face, framed in rapidly whitening hair; his elastic figure,
growing almost venerable, from recent associations; his paternal
manner toward young Jimmie, his name-sake son, whom by some
whim of fancy, he had with him during the examination,—all these
were elements of interest in the picture.”
And now comes a beautiful prophecy, two years old, which shows
how one may argue his way into the future by the hard and certain
logic of events. It is this: “The administration will have to do
something that shall appeal strongly to the popular heart; something
out of the line of hospitalities within its own charmed circle;
something magnetic and heroic, or else ‘Blaine, of Maine,’ will
become so idolized in the minds of the people that he will be
invincible in 1884.”
In all of his foreign correspondence there is, in one particular, a
striking likeness between Mr. Blaine and President Lincoln,—the man
is not lost in the statesman, but rather the man is the statesman.
As Abraham Lincoln in all his giant form appears upon the forefront
of every public document that came from his hand, so James G.
Blaine is photographed from life in every state-paper that bears his
name. He copies no model, he stands on no pedestal,—his
personality is free and untrammeled in every utterance.
In his paper to Mr. Lowell, our Minister to England, of Nov. 29, 1881,
we get a full view of the man at his work.
A modification of the Clayton-Bulwer treaty of April 19, 1850, is the
subject in hand. His instructions had been sent ten days before. A
week afterwards the response of Lord Granville to his circular note of
June 24, in relation to the neutrality of any canal across the Isthmus
of Panama, had been received.
And so he proceeded to give a summary of the historical objections
to the Clayton-Bulwer treaty, and the very decided differences of
opinion between the two governments, to which its interpretation
has given rise. And this he does with singular skill and aptness,
which is not unusual to him, when the philosophy of history is
needful as the servant of his genius.
No less than sixteen direct quotations of from two to eight lines
each, are given in a letter of six large pages, taken from the
discussion of the subject for thirty years, while the main body of the
letter, in its various parts, shows a comprehensive grasp of details, a
familiarity with utterances of the leading men of the past, and with
England’s operations under the treaty, as to prove conclusively that
in the highest realms of statesmanship, mastery is still the one word
that defines the man.
His previous letter of instructions, presenting an analysis of the
Clayton-Bulwer treaty, singling out the objectionable features to be
abrogated, and stating his reasons, is of the same clear, strong type,
compactly written, and applying the great arguments of common
sense to a subject of international importance.
“The convention,” he says, “was made more than thirty years ago,
under exceptional and extraordinary conditions, which have long
since ceased to exist,—conditions which at best were temporary in
their nature, and which can never be reproduced.
“The development of the Pacific coast places responsibility upon our
government which it cannot meet, and not control the canal now
building, and just as England controls the Suez canal.
“England requires and sustains an immense navy, for which we have
no use, and might at any time seize the canal, and make it
impossible for us to marshal a squadron in Pacific waters, without a
perilous voyage ourselves around the Horn.”
Great events of permanent importance would doubtless have been
the result, had the president and his secretary been permitted to
continue as they were for the full term of office. Already Mr. Blaine
was showing himself a master in the arts of diplomacy, not with
aught of cunning artifice or sly interrogation, but with straight-
forward, solid utterances upon the great interests of the nation’s
weal. Not only of the loved and honored president did the assassin’s
bullet deprive us, but also of the services of Mr. Blaine, as well. A
Providence more kind seems to be giving him back to the nation, to
complete their unfinished work.
XVIII.
HOME LIFE OF MR. BLAINE.
N his “Letters to the Joneses” J. G. Holland describes

various homes as possessing all the elements of an
empire, a kingdom, a monarchy, or a republic. Mr. Blaine’s
home is a republic. Every member of his family seems to
be on an absolute equality; and he, as one, has described him, and
an intimate friend confirmed it, is more like a big brother than aught
beside. Certainly he is no emperor, no monarch, czar, or king. He is
not even president or governor, nor chieftain there, or general; but
rather the senior member of the family, the head by right of priority.
He is there deeply loved, greatly respected, and highly honored.
Why need he be a tyrant where a father’s wisdom and a father’s love
will serve him best and win high encomiums of praise? Why not
shine on when he enters there, as well as in the places of the state
and nation, or in the simpler walks and haunts of men? Why put out
his light when among those who most admire and love? Why ring
down the curtain upon all those splendid qualities of soul that make
him famous in the world abroad, when in the charmed circle of those
who love and share his fame and honor?
Mr. Blaine’s first home in Augusta was the eastern half of a large,
brown, double house, on Green Street, nearly opposite the
Methodist church. It was a simple, unpretentious, pleasant home, all
through his editorial, legislative, and on into his congressional life. It
was where he did the hard work of those first years, where he made
his friends and bound them to him, where he entertained them and
gave them cheer. His business was a constant thing with him; he
never quit or laid it aside; and it was a great part of his business to
get acquainted. He took them to his home; it was open to all, and
there was a seat for any and all at his table. He kept open house the
year around. When friends came it was hard to get away; he would
hold on to them as he would to a book. He loved the people; they
were a study to him; a very joy and pleasure, a real delight. Among
the people he is perfectly at home, and they are made to feel that
“come and see me” means just that, and all that that means. He is
like a father or big brother out among them. They all knew him, and
knew where he lived,—in that “brown house on Green Street.” This
was back in those years before he was so largely in Washington, and
before he had his pleasant and more commodious house and
grounds near the capitol.
The whole care of the home was upon Mrs. Blaine, who looked after
everything down to the veriest minutiæ. She was thoroughly in
sympathy with him, was pleased with what he enjoyed; and so was
perfectly willing their home should be the rallying-place for his hosts
of friends, who might come and go at will. The Maine legislature met
at his house during the Garcelon trouble.
Mr. Blaine attended strictly to his work, and that meant the people,—
strangers, and townspeople, one and all. He never, I am credibly
informed, bought a pound of steak in his life, nor a barrel of flour;
never went to a grocery store to buy anything. He has had no time
or thought for things like these. He has been a student and teacher
all his life; a close, deep, careful reader and thinker. He had never
been in a printing-office in his life until he became editor, and had to
learn the people, study them, get politics from their ways of thinking
and looking at things; and it was a matter of principle with him to
make the thing go. It is not a half-dozen things, but “This one thing
I do,” with him, and he does it. But he has always been regular at
his meals, as a matter of health, and so a law of life. He was no
epicurean; cared only for the more substantial things of diet, and
never seemed to be particular about what he ate, except one thing,
and that he liked, and always wanted them in their season, and
always had them. It was baked sweet apples and milk at the close of
every meal. And then he would sit and read, and read, and read,
especially after supper, and Mrs. Blaine, if she wanted him to move
from the table, would say, “James! James!” and again, “James!” like
enough half a dozen times before he would hear, and she pleasant
and careful of him all the time. She has had mind and heart to know
his worth, and has needed no one to tell her that teaching school in
Kentucky has paid her a handsome dividend and is full of promise
for the future. He has made no move but what she has seconded
the motion. Her life is in his, and not a thing independent and apart
from it.
One who knew her well in those early years, and knows her well to-
day, said of Mrs. Blaine, “She is just as lovely as she can be; of
superior culture, and a real, true mother.”
The gentleman who was Mr. Blaine’s foreman, and for a year and a
half made his home with them, is most enthusiastic in their praise.
He tells what a real mother Mrs. Blaine was to him if he was sick, or
anything the matter with him, how she would take the best of care
of him. Every winter they published a tri-weekly during the session
of the legislature, and this kept him at the office late every-other
night, and she would be “worried about him because he had to work
nights,” and Mr. Blaine would say, “Howard, you are worth a dozen
boys (shiftless, good-for-nothing boys, he meant), but you must not
work so hard.” The humanities of life were the amenities to them.
This same man, who has since been editor and proprietor of Mr.
Blaine’s old paper, said with depth of feeling, and strong emphasis,
“I wish every voter in America had had my opportunity for eighteen
months, right in his own home, to see and know Mr. Blaine, they
would find out then what a royal man he is.”
In less than ten days after his nomination, parties of prominence,
connected with a paper favorable to his election, but located in quite
a city where a leading Republican paper affects to oppose him,
visited Augusta, and called upon his political enemies, and enquired
into his private, social, and domestic life, and they finally confessed
there was no lisp or syllable of aught to tarnish his name or cause a
blush. It is all pure, and sweet, and clear.
When Mr. and Mrs. Blaine first entered their Augusta home, a bright
and beautiful baby boy was in the arms of Mrs. Blaine. He was the
pride and joy of the home, their first-born. His name was Stanwood
Blaine, taking his mother’s maiden-name. One short, bright year of
sunshine, and prattle, and glee, and a dark cloud rested on that
home; a deep sorrow stung the life of that father, and heavy grief
oppressed the heart of the mother,—their little Stanwood was gone;
he was among the jewels on high, and there he is to-day, while a
lovely picture of him adorns the present home.
Since then, six children have been born to them,—John Walker, a
graduate of Yale college, and a member of the Alabama Court of
Claims; Robert Emmons, a graduate of Harvard college, now
connected with the North-western Railroad, in Chicago; Alice, the
wife of Colonel Coppinger; Margaret; James Gillespie, Jr., and Hattie,
named for her mother, Harriet. Walker, the oldest, is about thirty-one
years old, and unmarried. Hattie, the youngest, is fourteen years of
age. All of the children have been born in Augusta, and with but two
or three exceptions, in the old home on Green Street.
Mr. Blaine has been accustomed to sit up quite late at night with
books, papers, and letters, and make up his sleep in the morning.
He loves a good story, and keeps a fund on hand constantly, and
they serve his purpose well. There is one he has enjoyed telling to
knots of friends here and there, and especially when friends have
gathered at his table. The Maine law, in the interest of temperance,
was a leading issue in the state during Mr. Blaine’s connection with
the Journal. It fell to the lot of his partner, John L. Stevens, who had
been a minister, to write the temperance articles, and he would write
them long and strong. It was a custom with Mr. Blaine to go around
among the workmen and chat with them, a few words of good
cheer. Among them was an Irishman named John Murphy, who loved
his glass. He was a witty fellow, and generally had something to say.
One day while Mr. Blaine was around, Murphy had a large, long
manuscript from Mr. Stevens, on temperance, which he was setting
up in type. It was a hard job, and the day was hot. He was about
half through, when he called out to the foreman,—
“Owen, have you a quarter?”
“Yes, sir! What do you want of it?”
All were listening, including Mr. Blaine, for they expected something
bright and sharp.
“Well, sir, I thought I would have to be after having something to
wet me throat wid before I got through with this long, dry
temperance job.”
Everybody roared at the Irishman’s quaint sally. It struck Mr. Blaine
as particularly dry and ludicrous; he laughed outright, and he would
tell it as a good joke on his partner.
Mr. Blaine has never talked about people behind their backs; he is no
gossiper. He is a fearless man, and if he has anything to say to a
man he says it squarely to his face. There is a purity of tone and
richness of life in his home, that are both noticeable and remarkable.
There seem to be no frictions, gratings, or harshness. One of ample
opportunity has said, “I never heard him speak a cross word to his
children.” He is rather indulgent than otherwise. While he may be, as
case requires, the strong, central government, they are as sovereign
states; no rebellion manifests itself, requiring coercion.
Mr. Blaine’s family have been accustomed to attend church, and the
family pew is always full. Father and mother are both members of
the Congregational Church, and have the reputation of being
devoted Christians and liberal supporters of the church. Mr. Blaine
tells them to put down what they want from him, and he will pay it.
He has the reputation of being one of the best Bible-class teachers
in the city. His long drill at college, reading the New Testament
through in Greek several times, has helped him in this. A Mission
Sabbath-school was started down in the lower part of Augusta, and
he went down with the others and taught a large Bible-class. His old
pastors, Doctor Ecob, of Albany, N. Y., and Doctor Webb, of Boston,
Mass., bear the highest testimony to his Christian character and
integrity. It was said of him at Cincinnati, that “he needed no
certificate of moral character from a Rebel congress,” and a very
careful examination proves it true. No man could, it would seem, by
any possibility, stand better in his own home community than does
Mr. Blaine. It is not simply cold, formal endorsement, as a matter of
self-respect and state-pride, but the clear, strong words of a deep
and powerful friendship, that one constantly hears who will stand in
the light and let it shine on him.
There were in his Green-street home, parlor, sitting-room, dining-
room, and kitchen, down-stairs, and corresponding rooms up-stairs.
There was quite a large side-yard, with numerous trees, and garden
in the rear. The barn and rear part of the house were connected by a
long wood-house, as is the custom in New England. It was an ample
and respectable place for a young editor and politician to reside, and
while it was up on the hill or low bluff from Water Street, down near
the Kennebec River, where the business portion of the city was, and
his office was located, still it was quite convenient for him.
His old office was burned in the big fire of 1865, which destroyed
the business portion of the city, but the desk was saved at which he
did much of his writing when in charge of the office of the Journal
during the presidential campaign of 1860.
During this campaign there was so much to excite him, so much
news to read, so many speeches to make, so many ways to go, and
such a general monopoly of time and attention, that very early in the
morning they would get out of “copy.” The foreman would say,—and
he was a very kind-hearted man, and loved Mr. Blaine,—
“I don’t see any way for you to do, Dan, but to go up to Mr. Blaine’s,
and wake him up, and tell him we must have some more copy.”
Up he would go to the Green-street home, and rouse him up. Mr.
Blaine would come down in his study-gown and slippers and say,—
“What, that copy given out?”
“Yes, sir, and we will have to have more right away!”
“Well, what did he do, sit right down and dash it off for you?”
“Yes, sometimes, and sometimes he would take the scissors.”
This was said with a mild, significant smile.
Mr. Blaine could write anywhere, and did much of it out in the
dining-room on the supper-table, with his family all about him. He
would become oblivious of all surroundings, and with his power of
penetration and concentration, adapt himself to his work, utterly lost
to circumstances.
He had no mercy on meanness. It roused his whole nature. He
would walk the floor at home, plan his articles, think out his
sentences, and send everything to the printer just as he had written
it first,—but when he came to correct the proof he would erase and
interline until the article had passed almost beyond the power of
recognition. His finishing touches were a new creation.
Of course the poor printers never said anything either solemn or
wise at such times, especially when driven to the final point of
desperation. But they could not get mad at him, and there was no
use trying. Dan said,—
“He would just as soon shake hands with a man dressed up as I am
now, with this old suit of overalls on, and sit down and talk with him
as with the richest man in town.”
“The men knew this, and saw and felt his power. He looked at the
man, and not at the clothes?”
“Yes, that is just it.”
Mr. Blaine’s business and home-life are so blended, it is impossible to
separate them. He never left his business at the office. It was all
hours and every hour with him, except upon the Sabbath.
He took some time to look after the education of his children,
something as his father and grandfather had dealt with him. But
Mrs. Blaine, having been a teacher, took this responsibility upon
herself. They all attended the public schools of the city, and were
early sent away to academy, college, and seminary. The home
always had an air of intelligence. Busy scenes with books were
common, day and night. Materials for writing, papers, magazines,
and books for general reading, and for review, seemed omnipresent.
There is order and system amid all the seeming confusion.
Mrs. Blaine’s hand and touch are felt and seen everywhere. She is a
large, magnificent woman, a born queen, as fit to rule America as
Queen Victoria to rule England. She has a quiet, commanding air,
with nothing assumed or affected about her. A gentle, wholesome
dignity makes her a stranger to storms, and her clear, strong mind
makes her ready and at home in society. She is not a great talker,
and encourages it in others by listening only when it is sensible. She
is too wise and womanly to ever gush, and never encourages talk
about her husband. There is nothing patronizing about her.
The fact is, the presidency, since the death of Mr. Garfield, and the
terrible ordeal through which they then passed, has been very
serious business to them. They have not labored for it. It has been
thrust upon them,—for they are one in every sympathy and every
joy.
About a year ago, while calling upon his old friend, Ex-Gov. Anson P.
Morrill, Mr. Morrill said,—
“Are you going to try for the presidency again, Blaine? Come, now,
tell me, right out. I want to know.”
“No, sir,” was the reply. “I do not want it. If you could offer it to me
to-night, I would not accept it. I am devoted to my book at present,
and love it, and do not wish to be diverted from it.”
Mr. Morrill went on to say, that “eight years ago, when they tried to
nominate him at Cincinnati, I was opposed to it, and told my
neighbor, Mr. Stevens, I would not vote for him. I thought he was
too young, and had not grown enough.”
“Well, how is it now?”
“O, he is all right now, well-developed, solid, and strong. The nation
can’t do better than put him right in. He will make a master
president, and give the country an administration they will be proud
of.”
This shows the honor and honesty of the old governor, and that he
loved the nation above his friend. The happy, blessed, prosperous
years of home-life ended on Green Street, when Mr. Blaine was
advanced to the third office in the nation, as speaker of the House of
Representatives in congress,—and they removed to the larger home,
with ampler grounds, on State Street, next to the capitol. Here they
have since resided, except when living in Washington. Mr. Blaine
loves home, and has his family with him.
There is nothing extravagant about the home on State Street, either
in the house or its furnishing. It is plain, simple, and comfortable.
The sitting-room and dining-room upon the right of the main hall,
and the two parlors on the left are thrown into one, making two
large rooms, which have always been serviceable for entertaining
company, but never more so than since his nomination for the
presidency. The hallway extends into a large, new house, more
modern in appearance than the house proper, erected by Mr. Blaine
for his library, gymnasium, etc. Mr. Blaine is careful about his
exercise, and practises with dumb-bells, takes walks, rides, etc.
He has a large barn for horses, and generally keeps a number of
them. The house is of Corinthian architecture, without a trace of
Gothic. Corinthian columns, two on each side, indicate the old
division of the large room on the left of the hallway into the front
and back parlor, but all trace of doors is removed, and they are
practically one. A large bay-window, almost a conservatory, built
square, in keeping with the house, looks out upon the lawn.
It is, all in all, a very convenient, home-like place, with nothing
pretentious or to terrify the most plebeian who would care to enter,
and they have been there by the score and hundred. Not less than a
thousand friends, neighbors, and visitors were cordially invited to
come in and shake hands with General Logan, when he visited Mr.
Blaine soon after the convention that nominated them, and received
a quiet serenade, declining any public reception.
A bright, important feature of Mr. Blaine’s home is his cousin, “Gail
Hamilton,”—Miss Abigail Dodge,—the gifted authoress. She is an
intellectual companion, and an important factor in the social and
home-life of the family, deeply interested, but with native good
grace, in all that pertains to the honor and welfare of her
distinguished relatives. Books, music, bric-a-brac, abound in their
present home.
They do not “fare sumptuously every day,” though feasts of course
there are, but continue in their simple, democratic ways. Eating is
not a chief business in that home. The children are very intelligent,
and minds, rather than stomachs, have premiums on them. When
Walker was a little fellow, long before he could read, less than two
years old, he could turn to any picture in a large book; he knew
them all. But none of them have surpassed, or equalled, their
father’s work at books,—going through those great lives of Plutarch
by the time he was nine years old,—and this we hear from Mrs.
Blaine herself. Only the three younger are at home,—Margaret,
James Gillespie, Jr., and Hattie, who, although she is the baby, wears
glasses. She is a wide-awake and pleasant child, and finds so much
of life as is now a daily experience, a burden rather than a delight.
James has many of his father’s characteristics, it is said. He is a tall,
noble, manly fellow, and, though still in his teens, has been tutoring
in Washington the past winter. Margaret, older than Hattie or James,
has achieved a national reputation by a dexterous use of the
telephone at the time of her father’s nomination. She was the first to
receive the intelligence. She has mature, womanly ways, and is very
like her mother, though the children all resemble their father,—have
his strong, marked features,—unless it may be Emmons or Alice.
Alice was the oldest daughter, and would accompany, with perhaps
other members of the family, Mrs. Blaine herself, at times, back in
the editorial days, upon the press-excursions. Upon those occasions
Mr. Blaine was in his glory, full of facts, full of life, and full of stories.
There was none of the wag or loafer about him; he was never idle or
obsequious; but he knew all about the bright side of things, and
never failed to find it. His own life seemed to light up all around him.
The ludicrous side was as funny as the mean was despicable. He
was very popular among the journalists of the state. He was an
honor to the craft, and they felt it, and easily recognized him as a
royal good fellow,—a sort of leader or representative man. He was
called out when toasts were to be responded to or speeches to be
made, and was the captivating man on all occasions. The crowd
gathered about him. He never would tell a story but that any lady
might listen to it without a blush. They were well selected, and
always first-class, and told in the shortest, sharpest manner possible.
He would never spin a long yarn. It must be quickly told, and to the
point, and have a special fitness for the occasion.
A story that he enjoyed hugely, and could tell with a gusto
inimitable, was of a country-man elected to the legislature, and for
the first time stopping at a large hotel. The waiters were busy, and
while he awaited his turn he observed a dish of red peppers in front;
taking one of them on his fork, he put it in his mouth, and began the
work of mastication. All eyes were turned on him. The process was a
brief one, and he very soon raised his fair-sized hand, and, taking
that pepper from his mouth, laid it beside his plate, and said, as he
drew in a long breath to cool off his blistered tongue, “You lie thar
until you cool!” This was only matched by one regarding a man from
the interior, at a hotel-table in St. Louis, who, observing a glass of
iced-milk on the outer circle of dishes that surrounded the plate of a
gentleman opposite to him, reached for it and swallowed it down.
The gentleman watched him closely, and, with some expression of
astonishment, said simply,—
“That’s cool!”
“Ya-as,” the fellow blustered out, “of course it is; thar’s ice in it!”
Few toasts touch the heart of Mr. Blaine more deeply than the great
toast of the family and of friendship, and one to which he could
respond with the happiest grace and the liveliest good cheer, “Here’s
to those we love, and those who love us! God bless them!”
Mr. Blaine drinks no liquors, not even the lightest kinds of wine, I am
credibly informed by one who was with him on those occasions, and
frequently at his table.
Mrs. Blaine, like her husband, is a great reader, and while a devoted
mother and faithful wife, never neglecting her home, husband, or
her children, has kept herself well informed, and is intelligent and
attractive in conversation.
Old friends say, “I do love to hear Mrs. Blaine talk; she has a fine
mind, is so well educated, and so well informed.”
An old school-mate testifies that she was a fine scholar when at the
academy over the river from her present home, and that she also
studied and finished her education at Ipswich.
She has trained her children with a skill that few mothers could
command. Her children are her jewels, and are loved with a
mother’s affection. They are as stars, while her husband is as the
great sun shining in the heaven of her joys.
The present Augusta home has been, for years, little more than a
summer-resort, to which they have come the first of June. Their
great home has been in Washington. This, for twenty years, has
been life’s centre to them. Here home-life has reached its zenith; its
glories have shone the brightest; it has been at the nation’s capital,
and husband and father among the first men of the nation. Wealth
has been at their command, to make that home all they desired.
They could fill it with the realizations of their choicest ideals, and
friends, almost worshipers, have come and gone with the days and
hours, from all parts of the nation. They have lived in the nation’s
life. They have been in the onward drift and trend of things, ever on
the foremost wave, caught in the onward rush of events. Life has
been of the intensest kind, rich in all that enriches, noble in all that
ennobles. They have occupied a large place in the nation, and the
nation has occupied a large place in them; and yet, though at the
very farthest remove from the quiet, simple life of the cottage or the
farm, it has been an American home; it could be no other with such
a united head, and retains much of the old simplicity. The habits of
early life are still on them, and in nothing are they estranged from
the people.
It has been an experience with them so long, and came on so early
in its beginnings, and gradually, that they have become accustomed
to honor and distinction.
Another home is likely to be theirs in Washington, the crown of all
the others. But in it they will be the same they are now; just as glad
to see their friends, as home-like as themselves, as genuine and
true. Their heads cannot be turned if they have not been, and home
in the White House will be, if in reserve for them, the same dear,
restful, cheerful spot, for the loved ones will be there, and that
makes home, not walls, and floor, and furniture.
Photographs of the family abound at Mr. Blaine’s, all except the
picture of Mrs. Blaine,—she has not had it taken. “They are not
true,” she says, and she brought a half-dozen of her husband, and
only one seemed good, and she admitted it. The others showed, I
thought, how terrific has been the conflict of life with him. They
show him when haggard and worn, and perhaps prove, by her
judgment on them, how consummate is her ideal of the man of her
heart. Mr. Blaine loves the open air. The hammock, seen in the back-
ground of the picture of his house, is soothing and restful to him,
and to a man of such incessant activity rest is very welcome. He was
out in the hammock, as shown in the picture of his home, with his
family and some of his nearest neighbors about him, when the
balloting was going on in Chicago. The third ballot had just been
taken when his neighbor, Mr. Hewins, came on the grounds.
“Well, Charley,” he said, “you don’t see anybody badly excited about
here, do you?”
“Mr. Blaine,” he said, “was the coolest one of the company.”
These lawn-scenes are a part of the home-life, a very large and
pleasant part; for there are no pleasanter grounds in Augusta than
those surrounding Mr. Blaine’s modest mansion.
XIX.
CHARACTERISTICS OF MR. BLAINE.
N conversation with a leading business man in Maine, the

question was asked, “What are the chief characteristics of
Mr. Blaine?” The man was well situated to know, and well
fitted to comprehend, although he was not the man to
analyze character, except in a general way, and largely from a
business point of view. His answer was,—
“His immense industry; his great enlightenment, and he has always
been a growing man! He has such great force of character, and such
large intellectual power, and then he is such a social man. He knows
so much, and is so interesting in conversation. He will talk to a
peasant so that he will take it all in, and a prince sitting by will enjoy
it.”
Captain Lincoln and his wife, New England people, but from the
Sandwich Islands, where he had been for some five years in charge
of a vessel, called to see him about the middle of June, to pay their
congratulations; and it was pleasant to observe, how, without a
trace of aristocracy, but with a genuine manliness, he sat down just
like a brother, and talked with them of their interests, the Island and
ocean affairs, and observed, “They don’t have any more roast
missionary out there now”; but this was slipped into a sentence that
almost gave a history of the Islands. And as he discussed ocean
problems, routes to Mexico, and different parts of America, North
and South, the captain’s eyes opened with admiration. And it was
not a display of knowledge, but brought out in questions, as to what
do you think of such a project, and in stating a few brief reasons for
it, the man’s information not only cropped out, but burst forth. He
seems so full of it, that when it can find a vent it comes forth in
deluge fashion, much as water does from a fire-plug.
Mr. Blaine never could be a specialist, but must be world-wide in his
knowledge, as he is in his sympathies. Some men are like ponds in
which trout are raised,—small and narrow, serve a single purpose,
and serve it well; but he is more like the ocean,—broad, and grand,
and manifold in the purposes he serves, and deep as well. Mr. Blaine
is not a shallow man. His has not been the skimming surface-life of
the swallow, but rather the deep-delving life of reality and
substance. Deep-sea soundings, both of men and things, have been
a peculiar delight to him.
Curiosity has ever been a secret spring in him. He must know all,
and he would hunt, and rummage, and delve, and search, until he
did. He has the scent of a greyhound for evidence, however
abstract, and he would track it down somehow, “with all the
precision of the most deadly science,” as he did the telegram which
Proctor Knott suppressed. This inborn faculty, which he has
developed to a marvelous degree, has been a mighty weapon of
defence to him, when combinations and conspiracies have been
formed against him, and of the most cruel character, for his
destruction. For, let it not be forgotten, that he has lived through
that era of American life when the great effort was to kill off,
politically, the great men of the Republican party. A rebel congress of
Southern brigadiers did their worst, but the nation applauded as he
triumphed.
The same knowledge seems greater power in him than in ordinary
men, or than in almost any other man, because of his great
intellectual force. Just as a dinner amounts to more in some men,
because of greater power of digestion,—just as the smooth stone
from the brook when in David’s sling went with greater precision and
power, penetrating the forehead of Goliath. It is the man and in his
combinations, manner, methods, and the time, and yet all of these
have little to do with it. Force and directness seem to express it all.
Conventionalities are merely conveniences to Mr. Blaine, and when
not such are instantly discarded. Common sense is the pilot of his
every voyage. Everything is sacrificed to this. This, and this alone,
has been the crowned king of his entire career, and all else merely
subjects.
What he has seen in the clear, strong light of his own best judgment,
enlightened by a vast and varied knowledge, he has seized and
sworn to. He has never plundered others of their cast-iron rules; he
had no use for them. Saul’s armor never fitted him. He has delighted
in the fathers’ reverences and laws, though but seldom quotes them.
He has no time or taste for such easy, common methods. He is too
original. And this is one of the strongest features of the man. He is
not simply unlike any other man, but has no need of resemblance.
He has much of the impetuosity and fiery eloquence of Clay, but
then he has more of the solid grandeur of Webster. But then he is
too much like himself to be compared intelligibly with others.
There are great extremes in his nature,—not necessarily
contradictions, yet opposites. He is one of the most fervid men, and
yet one of the most stoical at times, perfectly cool when others are
hot and boiling. He never loses his head. There is never a runaway,
—but great coolness and self-possession when it is needed, and
ability to turn on a full head of steam, when the occasion requires.
Here is the testimony of a scholar and author:—
“One element in his nature impressed itself upon my mind in a very
emphatic manner, and that is his coolness and self-possession at the
most exciting periods. I happened to be in his library in Washington
when the balloting was going on in Cincinnati on that hot day in
June, 1876. A telegraph-instrument was on his library table, and Mr.
Sherman, his private secretary, a deft operator, was manipulating its
key. Dispatches came from dozens of friends, giving the last votes,
which only lacked a few of the nomination; and everybody predicted
the success of Mr. Blaine on the next ballot. Only four persons
besides Mr. Sherman were in the room. It was a moment of great
excitement. The next vote was quietly ticked over the wire, and then
the next announced the nomination of Mr. Hayes. Mr. Blaine was the
only cool person in the apartment. It was such a reversal of all
anticipations and assurances, that self-possession was out of the
question except with Mr. Blaine.
“He had just left his bed after two days of unconsciousness from
sunstroke, but he was as self-possessed as the portraits upon the
walls. He merely gave a murmur of surprise, and, before anybody
had recovered from the shock, he had written, in his firm, plain,
fluent hand, three dispatches, now in my possession: one to Mr.
Hayes, of congratulation; one to the Maine delegates, thanking them
for their devotion; and another to Eugene Hale and Mr. Frye, asking
them to go personally to Columbus and present his good-will to Mr.
Hayes, with promises of hearty aid in the campaign. The occasion
affected him no more than the news of a servant quitting his employ
would have done. Half an hour afterward he was out with Secretary
Fish in an open carriage, receiving the cheers of the thousands of
people who were gathered about the telegraph-bulletins.”
This power of self-control seems to be supreme. It is just the
particular in which so many of our great men, and small ones too,
have miserably failed. This enables him to harness all his powers and
hold well the reins,—to bring all his forces into action when
emergency requires, and send solid shot, shrapnel, or shell, with a
cool head and determined hand.
Mr. Blaine has a great memory. Nearly all who know him will speak
of this. He seems never to forget faces, facts, or figures.
Thirty years after he attended school in Lancaster, Ohio, he went
there to speak. It was, of course, known that he was coming, and an
old acquaintance of the town, whom he had not seen all these
years, said, “Now I am going to station myself up there by the cars,
and see if he will know me. They say he has such a wonderful
memory.” Several were looking on, watching the operation. Mr.
Blaine had no sooner stepped off from the train than he spied him,
and sang out at once, “Hello, John, how are you!” and a murmur of
surprise went up from those who were in the secret.
At another time he was near Wheeling,—my informant thought it
was across the river from Wheeling,—in Belmont County; he met a
man and called him by name. The man said, “Well, I don’t know
you.” Mr. Blaine told him just where he met him, at a convention,
and then the man could not remember. That night he told some of
his friends about it, and they said it was a fact; they were with him,
and saw him introduced to Mr. Blaine and talk with him, and not till
then did the man remember him.
As General Connor, ex-governor of Maine, who appointed Mr. Blaine
to the United States senate, said: “He could do a thing now as well
as any other time.”
“Governor Connor was in Washington,” he went on to relate, “and
called upon Mr. Blaine when he was secretary of state, and he said,
in his familiar way, ‘Now you talk with Mrs. Blaine awhile,’ and went
into his study. In about an hour he called him, and all about his table
were lying sheets of paper on which he had just written. It was his
official document on the Panama canal, and which he read to the
governor. It had been produced during the past hour, and appeared
in print, with scarcely a change. It came out in a white heat, but it
was all in there ready to be produced at any time.”
The General remarked, “This one characteristic of the man, and an
element of his popularity and hold on others, is this close confidence
he exercises in his friends, of which the above is an illustration.”
And this touches at once another feature, and that is his ability to
read character, and so to know whom to trust. He goes right into a
man’s life, when he gets at him.
While out riding, during the preparation of his volume, with his wife,
two or three miles from Augusta, in Manchester township, he got out
to walk, and finding a farmer in a field near by, he stopped, talked
with him some time, asked him about his history, his ancestors, and
found out pretty much all the man knew about himself, and could
have told whether it would do to leave his pocket-book with the man
or no. Such a thing is a habit with him, and keeps him near the
people, gives him a look into their minds, a peep into their hearts, as
well as a view of their history.
Character-readers usually are persons of strong intuitions. They see
not so much the flesh and blood of the individual, as the soul within.
Just giving one sharp, quick, penetrating look at the man in the
concrete, and the abstract question is settled; the man is rated; his
value written down. It is not so much a study as a look,—thought
touches thought, mind feels of mind. It is power to know clearly,
quickly, strongly, and certainly, with him. He does not have to eat a
whole ham to find out whether it is tainted, nor drink an entire pan
of milk to find out whether it is sweet.
Mr. Blaine is very obliging, and he can usually tell an opportunity
from a chance. Life is no lottery to him; he keeps his feet on the
granite, and gives all “fortuitous combination of atoms” the slip,
being too discriminating to invest. One day he was in the old Journal
office, now owned by Sprague and Son,—a very kind and
considerate firm, who are producing a sprightly daily,—when a
citizen entered who had just been appointed clerk of the Probate
Court, and asked the gentleman to go on his bond. Mr. Blaine spoke
up at once, “I will do it,” and then said it reminded him of a story,
which he proceeded to tell:—
“Governor Coney lived in Penobscot, shire-town of Penobscot
County, and was judge of the Probate Court. The sheriff of the
County had failed, and Mr. Sewall, a citizen, met Judge Coney and
said, ‘The sheriff has failed, and you and I are on his bond.’ ‘Well,
that’s good,’ said the judge, ‘I guess you can fix it up.’ ‘O, but my
name is on the left-hand side, as a witness to his signature.’ So the
unlucky judge was left to contemplate the delightful privilege of
paying what amounted to a rogue’s bail.”
This same clerk of the Probate Court of former years, but still a
friend and neighbor, a man, however, with an unhappy physical
disability, came upon the lawn when the large committee to notify
him of his nomination were gathered there to perform that duty, and
as the man told me, Mr. Blaine caught sight of him off some
distance, and “notwithstanding all those men were there, he spoke
right up in his old, familiar way, ‘How are you, ——?’”
It shows his genuineness and simplicity. There is enough to him
without putting on any airs. It could not be otherwise than that a
nature so highly wrought and intense, should be possessed of the
powers of withering scorn and just rebuke, and when the occasion
required, could use them. There happened such an occasion in
1868.
General Grant had been invited to attend the opening of the
European and North American Railway, at Vanceboro’, in the State of
Maine. It formed a new connecting-link with the British Provinces.
There was a special train of invited guests, and as General Grant
was then president, and had never been in the state before, it was
quite an honor to be of the company. Mr. Blaine was, of course, of
the number, as were the leading citizens without respect to party. A
newspaper-correspondent, without any invitation, got aboard the
train, and went with the party, and on his return reported that
President Grant was drunk. This cut Mr. Blaine to the quick, because
of its untruthfulness, and as he was a Republican president, and
politics usually ran high in Maine during the palmy days, from 1861
to 1881, when Mr. Blaine was at the helm, and also because the
president was guest of the state. Not long after, he met the reporter
in the office of Howard Owen, a journalist of Augusta.
“And if you ever saw a man scalped,”—I use the exact language,
—“and the grave-clothes put on him, and he put in his coffin, and
buried, and the rubbish of the temple thrown on him forty feet deep,
he was the man. I never heard anything like it in all my born days:
philippics, invectives, satires, these common things were nowhere.”
“Well, what did he say?”
“What didn’t he say?” was the reply,—“‘You were not invited, you
were simply tolerated; you sneaked aboard, and then came back

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3 Equations of motion of a fixed-wing UAV 19

3.6 Uncoupled model of the fixed-wing UAV 28

6.6.7 Yaw motion simulations with backstepping control law

7 Testbed and experimental results 121

A Mathematical review 171

A.8.4 Sequence convergence 181

B Kinematics and dynamics background 189

C Stability in the Lyapunov sense 193

D Fundamentals of linear and nonlinear controllers 197

E Discrete-time Kalman filter 207

F Linear and nonlinear controllers: programs for the embedded

G Linear and nonlinear state observers: programs for the embedded

H MATLAB® program to graph 253

I Altimeter program 255

Fig. 1.1 General control scheme. 4

Fig. 5.8 Action of the sliding mode controller on yaw. 57

Fig. 6.30 Extended state for yaw motion. 116

R. BLAINE was a member of the cabinets of President

N his “Letters to the Joneses” J. G. Holland describes

N conversation with a leading business man in Maine, the

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