Evaluation of Algorithms for Linear and Nonlinear PID Control for Twin Rotor MIMO System

Abstract

This paper analizes a linear and a nonlinear PID control algorithms for a twin rotor MIMO system (TRMS), which is characterized by its nonlinearity, two degrees of freedom and cross coupling. This work aims to stabilize a TRMS in order to achieve a particular position and to follow a trajectory in the shortest time. Mathematical modelling of helicopter system is simulated using MATLAB/Simulink, the two degrees of freedom are controlled both horizontally and vertically through the proposed controllers. Here is also proposed a novel set of nonlinear-segmented observers for each degree of freedom in order to measure the states required by the nonlinear controller. Followed by a comparative performance analysis of both algorithms in a real TRMS.