Robust & optimal model predictive controller design for twin rotor MIMO system

Abstract

In this paper a two degree of freedom Twin Rotor MIMO System (TRMS), which is employed to model the pitch and yaw directions of a helicopter, is considered. Using the model of TRMS, MATLAB simulaitons are performed. The open loop model of the system is unstable. Since the system is both controllable and observable, a robust and optimal Model Predictive Controller (MPC) is designed to control the system. The simulations of the controller give better results as compared to the one obtained from LQR approach.