Controlling of Twin Rotor MIMO System (TRMS) based on Multivariable Model Predictive Control

Abstract

Objective of this study is to design a model predictive control (MPC) for twin rotor multi-input multi-output (MIMO) system (TRMS). Major challenges for controlling of TRMS are that it involves bi-directional motions in relation with yaw and pitch movements. Moreover, there is a strong interaction in between them resulting nonlinear behaviour. Therefore, conventional proportional integral derivative (PID) controller fails to provide satisfactory performance for such nonlinear multi-input multi-output (MIMO) system. However, multivariable MPC may be considered to be a useful control methodology in such cases. Efficacy of the designed multivariable MPC is estimated by computing integral absolute error (IAE) in control action during closed-loop operation realized with the help of MATLAB environment.