Abstract
This work deals with designing multi-input multi-output (MIMO) proportional-integral-derivative (PID) controllers to achieve linear quadratic (LQ) performance of a laboratory-based two degree-of-freedom (2-DOF) helicopter system with norm-bounded uncertainties in the cross-coupled gain. It is shown that, for such an uncertain system, the MIMO PID design problem can be recast as a full-state feedback control for an augmented uncertain system. Consequently, a simple linear matrix inequality problem is solved to determine the PID parameters in order to achieve robust LQ performance. The efficacy of the proposed controller is shown through extensive simulations and experiments.
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