Control System Design for MIMO System using Bond graph Representation -Quadcopter as a Case Study

This paper presents the use of power-based graphical representation of system and its controller using bond graph approach. For the detailed case study, the quadcopter system is considered, which exhibits MIMO, non-linear and under-actuated system properties. This system is modelled and PID controller parameters are obtained by adopting manual tuning technique using bond graph approach. The entire closed-loop MIMO system is represented using 20-sim bond graph software and the simulations are performed to meet satisfactory stable responses under tracking and disturbance conditions.