Gain-scheduled robust controller design of twin-rotor MIMO system

A robust controller is designed according to the gain scheduling principle to tackle a nonlinear twin rotor multi-input multi-output system (TRMS), where the controller is designed to control the mutually coupled horizontal and vertical axes. Linear parameter varying transformation approach is used to transform system into a linear parameter varying system (LPVs). This process of transforming nonlinear system into LPVs form instead of the traditional methods can reduce the linearization error. When the TRMS dynamic system is transformed to the LPVs form, the angle of attack is used as the scheduled variable to design the robust parameter-dependent gain-scheduled controller. The output response of the TRMS exhibits adequate tracking performance under various input command as shown in the simulations.