Optimal control of twin rotor MIMO system using LQR technique

Abstract

In this paper, twin rotor multi input multi output system (TRMS) is considered as a prototype laboratory set-up of helicopter. The aim of studying the model of TRMS and designing the controller for it is to provide a platform for controlling the flight of helicopter. An optimal state feedback controller based on linear quadratic regulator (LQR) technique has been designed for twin rotor multi input multi output system. TRMS is a nonlinear system with two degrees of freedom and cross couplings. The mathematical modeling of TRMS has been done using MATLAB/SIMULINK. The linearised model of TRMS is obtained from the nonlinear model. The simulation results of optimal controller are compared with the results of conventional PID controller. The appropriateness of proposed controller has been shown both in terms of transient and steady state response.