Quasi-LPV modeling and control of twin rotor multiple input multiple output system

Abstract

The aim of this thesis is to design a Linear Parameter Varying (LPV) controller for Twin Rotor Multiple Input Multiple Output System (TRMS) which has highly nonlinear and cross coupled mathematical model, using Linear Matrix Inequalities (LMIs). The quasi- LPV model of TRMS is written by considering the nonlinearities in the mathematical model as time varying parameters. In this way, Linear Fractional Transformation (LFT) form of the model is obtained. LMI condition for the existence of the controller and stability of the desired closed loop system are developed as indicated in the literature using the LFT form of the model. Developed LMIs conditions are solved for decision variables and the LPV controller for TRMS is obtained. The simulation is performed for di®erent modes. In results, it is seen that simulation of the LPV controller with the nonlinear TRMS yields excellent results for di®erent modes, in spite of nonlinearity and cross coupling in the model.