Optimal state feedback controller and observer design for twin rotor MIMO system

Abstract

This paper presents an optimal state feedback controller and observer design technique for twin rotor MIMO system (TRMS). The objective is to design a state feedback controller and observer for TRMS by tuning the respective gains using stochastic algorithm, such as particle swarm optimization (PSO), so that it can capable of tracking the desired trajectory with improved transient performances. In this work, the state model of TRMS with six numbers of states are considered and only two of them are physically accessible to the designer, thus, an observer system is required to be implemented. Simulations are carried out to demonstrate the performance of the proposed controller and observer system.