Abstract
This paper presents a design method of an MIMO (Multiple-Input-Multiple-Output) I-PD (Integral preceded by Proportional-Derivative) controller, which is a kind of PID controller, via integral-type optimal servomechanism and fractional balanced reduction (FBR) of a plant model. FBR is a kind of closed-loop model reduction method. The validity of the obtained reduced plant model is evaluated using the v-gap metric. The design method is applied to flight control design of a quad-tilt-wing (QTW) unmanned aerial vehicle (UAV).
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