Abstract
Abstract This paper addresses the robust control problem of Twin Rotor Multi input multi output System (TRMS) via H2 and H∞ control techniques. An output error optimization technique is proposed to develop H2 and H∞ controllers for the well posed plant. Computer simulation results are presented for closed loop TRMS in hovering positions which show marked improvements over previous works. The simulated plant exhibits stable responses in hovering position at the desired pitch and yaw angles. Corrections are incorporated in model formulation to compensate control and sensor singularities. The output error optimization technique proposed in the present paper can be essentially adopted in controlling of 2 by 2 plants exhibiting non-minimum phase dynamics.
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