Offset-Free Model Predictive Control of a Twin Rotor MIMO System (Extended Abstract)

Abstract

The offset-free control of a nonlinear twin rotor MIMO system (TRMS) is challenging because of its dynamic cross-couplings. Offset-free model predictive control (MPC) strategies in the literature favour the use of a disturbance model, dependent on an observer for the estimation of some states, and a cost function that penalises the output error and control increment. We propose an alternative strategy with experimental validation, using a complete dynamic TRMS model and a cost function which penalises the states and control action, and we compare this with a baseline linear quadratic regulator (LQR) approach. Simulation results show satisfactory tracking in favour of MPC as input rate constraints are tightened.