Adaptive control of Twin ROTOR MIMO system

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2015 20th International Conference on Process Control (PC), Vol: 2015-July, Page: 314-319

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Chalupa, Petr; Přikryl, Jan; Novák, Jakub
Institute of Electrical and Electronics Engineers (IEEE)
Engineering; Mathematics; First principle modelling; adaptive control; self-tuning control; ARX model
conference paper description
The paper deals with modeling and adaptive control of the Twin Rotor MIMO System - a real-time laboratory plant by Feedback Ltd. The plant consists of two propellers, which can be controlled by external controller, and resembles a helicopter. An initial mathematical model is derived using first principles modeling and further improved to correspond more with behavior of the real-time plant. The mathematical model is transferred to Simulink environment and is used for design of an adaptive controller. Several self-tuning controller were tested and closed loop behavior of the nonlinear Simulink model and of the real-time plant is compared.