Design and verification of a robust controller for the twin rotor MIMO system

Abstract

The paper deals with control design and verification of a robust controller of the Twin Rotor MIMO System - a real-time laboratory plant by Feedback Ltd. The plant physical appearance as well as its behavior resembles a helicopter. It consists of two propellers individually controlled by external controller. An initial nonlinear mathematical model is derived using first principles modeling and further used for simulation verification of the designed controllers. Besides, several linear black box models are identified by applying various input courses to the plant. Resulting set of models is used for robust control design. The designed robust controllers with promising behavior in simulations are verified by real-time control of the laboratory model. © 2016, North Atlantic University Union. All rights Reserved.