Abstract

This paper examines the performance of two different control schemes, Model Reference Adaptive Control (MRAC) and Deterministic Robust Control (DRC), on a 2 degrees of freedom Quanser AERO Helicopter setup. The complexity of the dynamics of the system makes it a challenge to design a control system that guarantees the transient and steady state performance of the setup. The control schemes are used to achieve a desired transient and steady state response and disturbance rejection. While the MRAC guarantees asymptotic stability, the DRC is proven to have a more desirable transient response.

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