Adaptive robust control for perturbed coupled nonlinear Twin Rotor Multiple Input-Multiple Output System

International Journal of Electrical and Electronics Engineering
© 2017 by SSRG - IJEEE Journal
Volume 4 Issue 12
Year of Publication : 2017
Authors : Dinh Van Nghiep
How to Cite?

Dinh Van Nghiep, "Adaptive robust control for perturbed coupled nonlinear Twin Rotor Multiple Input-Multiple Output System," SSRG International Journal of Electrical and Electronics Engineering, vol. 4,  no. 12, pp. 8-12, 2017. Crossref,


The paper proposes an approach to design adaptive robust control for tracking control a TRMS (Twin Rotor MIMO System), which is a perturbed coupled nonlinear system with two degrees of freedom. The here proposed controller uses an infinite horizon and continuous time nonlinear model. Hence it always guarantees the adaptive robust tracking stability of obtained closed loop systems in real time, without using an additional penalty function in objective function as usual. The obtained simulation result by using this controller has confirmed its promising applicability in practice.


TRMS, tracking control, Adaptive robust control, LQR.


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