Genetic algorithm based I-PD controller design for Twin Rotor MIMO system

The control of air vehicles is a very challenging task due to the presence of high nonlinearity and coupling between different elements. Twin Rotor MIMO System (TRMS) kit is a prototype of a helicopter designed for conducting laboratory experiments. The most common and simplest technique is to use a PID controller for the design process. Here in this paper we propose a simple design and implementation of an I-PD controller. We compare the results obtained from PID controller and I-PD controller and the results are found to be more satisfactory in case of I-PD controller. Further this scheme satisfies the robust condition of the plant.