Abstract
Abstract This paper presents the design and experimental evaluation of a two-degree-of-freedom discrete-time µ-controller for a laboratory two-rotor aerodynamic system with ten uncertain parameters. The controller implemented is of 24th order and ensures robust stability and robust performance of the closed-loop sampled-data system. This controller is realized on a PC by using the Real Time Workshop of MATLAB® with a sampling frequency of 100 Hz. The experimental results are close to the results predicted by using the linearized model of the system and highlight many of the difficulties associated with the practical implementation of robust control laws.
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