H2 and H Controller Design of Twin Rotor System (TRS)


Control engineering had been the core of all engineering fields all the time. As the name depicts, control of different parameters of various industrial or commercial equipment like plants, vehicles, aircrafts and etc is obtained. Robust and optimal control of these equipments plays a vital role. This paper presents a design of H2 and H control for a Twin Rotor System (TRS). TRS is a multi input multi output (MIMO) nonlinear system. The main objective is to control the angular position of the lever bar of TRS. It is having strong coupling between inputs and outputs. The model is first linearized and then controllers are designed to control the positions of lever bar. Simulations are made in MAT- LAB/SIMULINK. Model parameters are also provided in the end.

Share and Cite:

U. Ahmad, W. Anjum and S. Bukhari, "H2 and H Controller Design of Twin Rotor System (TRS)," Intelligent Control and Automation, Vol. 4 No. 1, 2013, pp. 55-62. doi: 10.4236/ica.2013.41008.

Conflicts of Interest

The authors declare no conflicts of interest.


[1] J. M. Maciejowski, “Multivariable Feedback Design,” Addison-Wesley Publishing Company, Boston, 1989.
[2] M. Gafven, “Modelling of rhe ETH Helicoprer Laboratory Process,” Department of Automatic Control, Lund Institute of Technology, Lund, 2001.
[3] C. Barbu, R. Reginatto, A. R. Teel and L. Zaccarian, “Anti-Windup Design for Manual Flight Control,” Proceedings of American Control Conference, San Diego, 1999, pp.3186-3190,.
[4] M. Pachter and R. B. Miller, “Manual Flight Control with Saturating Actuators,” IEEE Control Systems, 1998.
[5] M. Sacki, J. Imura and Y. Wada, “Flight Control Design of Twin Rotor Helicopter Model by 2 Step Exact Linearization,” Proceedings of IEEE International Conference on Control Applications, Vol. 1, 1999, pp. 146-151.
[6] G. Mustafa and N. Iqbal, “Control Design for a Twin Rotor Helicopter Model via Exact State Feedback,” INMIC Proceedings of the 8th International Multitopic Conference, Lahore, 24-26 December 2004, pp. 706-711.
[7] F. Allg¨ower and A. Zhen, Eds., “Nonlinear Model Predictive Control,” Progress in Systems and Control Theory, Vol. 26, 2000. doi:10.1007/978-3-0348-8407-5
[8] N. Wada and M. Saeki, “An LMI Based Scheduling Algorithm for Constrained Stabilization Problems,” Systems & Control Letters, Vol. 57, No. 3, 2008, pp. 255-261. doi:10.1016/j.sysconle.2007.09.006
[9] N. Wada and M. Saeki, “A Scheduling Algorithm for Constrained Control Systems: An Approach Based on a Parameter Dependent Lyapunov Function,” Proceedings of American Control Conference, New Orleans, 2007, pp. 5200-5205.
[10] T. Hu and Z. Lin, “Control Systems with Actuator Saturation: Analysis and Design,” Springer, Berlin, 2001. doi:10.1007/978-1-4612-0205-9
[11] N. Wada and M. Saeki, “Tracking Control with Saturating Actuators: A Method Based on State-Dependent GainScheduling and ReferenceManagement,” Proceedings of 17th IFAC World Congress, Seoul, 2008

Copyright © 2023 by authors and Scientific Research Publishing Inc.

Creative Commons License

This work and the related PDF file are licensed under a Creative Commons Attribution 4.0 International License.