Design and Implementation of L-PID and IO-PID Controllers for Twin Rotor MIMO System

The design and implementation of the Linear-Proportional Integral Derivative (L-PID) controller and Integer Order-Proportional Integral Derivative (IO-PID) controller on a benchmarked Twin Rotor MIMO system (TRMS) for experimental verification of their trajectory tracking capabilities are presented in this paper. These controllers have been implemented experimentally for controlling pitch and yaw angles of the TRMS. IO-PID controller have been described and its parameters are modified and adjusted using the nonlinear interior point optimization (fmincon) method to minimize the cost function of the controller parameters. TRMS yaw and pitch trajectory responses with these controllers are obtained and tested experimentally at distinct intervals with disturbances. It is observed that IO-PID controller will give better trajectory tracking performance as compared with L-PID controller.