DYNAMIC MODELING AND CLOSED-LOOP CONTROL OF A TWIN ROTOR MIMO SYSTEM

The Twin rotor MIMO system (TRMS) is an aero-dynamical model of helicopter
with significant cross-couplings between longitudinal and lateral directional motions.
Its behavior in certain aspects resembles the real of a helicopter. Firstly, open loop
control is implemented both for tail and main rotor to get the relationship of input and
output of the system. Open-loop control is often the preliminary step for development
of more complex feedback control laws. Next step was model identification as it is a
well established technique for modeling of complex systems whose dynamics are not
well understood or difficult to model from the first principles. State feedback
controllers were designed by pole placement method for both rotors independently.
The model then can be implemented in real-time experiments of the Twin Rotor
MIMO System.