Adaptive control of twin ROTOR MIMO system

The paper deals with modeling and adaptive control of the Twin Rotor MIMO System - a real-time laboratory plant by Feedback Ltd. The plant consists of two propellers, which can be controlled by external controller, and resembles a helicopter. An initial mathematical model is derived using first principles modeling and further improved to correspond more with behavior of the real-time plant. The mathematical model is transferred to Simulink environment and is used for design of an adaptive controller. Several self-tuning controller were tested and closed loop behavior of the nonlinear Simulink model and of the real-time plant is compared