Abstract
This paper describes 5-axis centralized feedback control system for a single rotor helicopter. The controller is designed with optimal control theory using Multiple-Input Multiple-Output (MIMO) linear model that includes cross-coupling dynamics, and tuning method for evaluation function is presented. Flight test with this control system demonstrated a steady hover control performance through attitude, position, and main rotor speed. Stability analysis of closed loop system shows a greater stability margin and robustness than Single-Input Single-Output (SISO) controller is used. This approach can be apply to MIMO flight control for various rotorcraft.
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