Twin rotor system modelling de-coupling and optimal control

Abstract

This paper proposes a new method to model, de-couple and implement a optimal control for a twin rotor system. We first model and decouple this twin rotor system into two independent single input single output (SISO) systems, and consider the coupling effects as the changes of system parameters. For each of the SISO system, we design an optimal robust controller independently, then join them together. As these optimal controllers can tolerate up to 50% changes in system parameters, the joined system can tolerate the coupling effects and keep its original SISO performance. This new method is evaluated and verified in simulation.