Robust and adaptive control of twin rotor MIMO system

Abstract

The paper is focused on control of a Twin Rotor MIMO System - a laboratory model constructed by Feedback Instruments Ltd. The system consists of a two rotors attached to a bar which can freely turn around two axes. System behaviour resembles a simple helicopter. Significant cross-coupling can be observed and the system is nonlinear. A model in the MATLAB/Simulink environment, which was developed within the scope of previous work, was used to design and verify both adaptive and robust controllers of the system. Real-Time control using both approaches is presented in the paper. Results of adaptive and robust control are compared using both control courses and integrative criteria.