Decoupling control of a twin rotor MIMO system using robust deadbeat control technique

Abstract

The decoupling control of a twin rotor multi-input–multi-output (MIMO) system is studied and proposed to apply robust deadbeat control technique to this nonlinear system. First, the nonlinear problem is identified and system model is developed. Then, it is shown that the system is able to be decoupled into two single-input–single-output (SISO) systems, and the cross couplings can be considered as disturbances to each other. Finally, a robust deadbeat control scheme is applied to the two SISO systems and a controller is designed for each of them. This design is evaluated in simulations, and the final result is tested in a twin rotor MIMO system. Comparing with a traditional system with two proportional, integral and derivative (PID) controllers, this method is easy to follow, and the results show that the proposed scheme has less overshoot, shorter settling time and is more robust to cross-coupling disturbances.