Practical Approach to Design a Robust Controller; Case Study on the Experiment of Twin Rotor MIMO System

Hoseung Lee, Hyo-Seok Kang, Chang-Ho Hyun
2016 International Journal of Control and Automation  
In this paper, the robust control problem in practice is studied. For this study, the position control problem of a twin rotor MIMO system (TRMS) is considered in terms of both the simulation and the experiment. In order to present the existence of the model uncertainties and the importance of the robustness concern, the conventional input-output feedback linearization based nonlinear controller is designed with the coupled model of TRMS and its performance is analyzed through both the
more » ... h both the simulation and the experiment. Then, a robust controller, the sliding mode controller for the TRMS is designed with the same model. Through the analysis of its performance in both the simulation and the experiment, the practical weakness of the robust controller is described. Consequently, the trial and error method is recommended for the practical use of the robust controller. Some simulation and experiment results verify this study.
doi:10.14257/ijca.2016.9.8.16 fatcat:t7bbhqixibho7ldduymiie6zpe