Robust suboptimal output control for a Twin Rotor MIMO System

Abstract

The main focus of this paper is the research of practical application of robust suboptimal control for the «Twin Rotor multiple input multiple output (MIMO) System». In this work, MIMO system is represented as dynamically related single input single output (SISO) systems. The robust and suboptimal control algorithm is based on the auxiliary loop method for disturbances compensation and suboptimal linear quadratic regulator (LQR) which is applied to the simplified linearized model of the plant. The proposed approach ensures the high quality of the system functioning and reliability in the presence of parametric uncertainties and external disturbances. Obtained result contributes for control of copters with different configurations. It is experimentally tested on the laboratory platform.