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Small signal model designing and robust decentralized tilt integral derivative TID controller synthesizing for twin rotor MIMO system

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Abstract

This paper focuses on the design of a suitable linear multi-inputs and multi-outputs model, which describes accurately the actual behavior of a twin rotor system where the small-signal approach is applied. The parameters of the given model are optimized through the pre-processed measurements recorded from the experimental test where the \(\hbox {MATLAB}{\textregistered }\) identification interface is performed. Also, this paper focuses on the synthesis of a robust decentralized controller including two independent single-input and single-output tilted integral derivative controllers, which are associated with a constant matrix of the decoupler. The parameters of the proposed controller are optimized by the particle swarm optimization algorithm which solves iteratively a weighted-mixed sensitivity problem. Performance and robustness analysis are carried-out in time- and frequency-domains to assess the effectiveness of the proposed robust decentralized controller. The given performances are compared with those provided by the robust decentralized integer-order proportional integral and derivative controller, designed by the structured \({H}_{\infty }\) synthesis based on the \(\hbox {MATLAB}^{\textregistered }\) command hinfstruct. The comparison is carried out in term of the trade-off between the nominal performance and robust stability.

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Acknowledgements

The authors would like to thank the Automation and Robotics group of Castilla-La Mancha University, Ciudad Real, Spain, for their valuable suggestions and comments that helped us to improve this paper. The authors: Aidoud Mohammed, Vicente Feliu-Batlle, Sebbagh Abdennour and Sedraoui Moussa contribute equally in the preparation of this manuscript. In addition, this work was supported by the Directorate-General for Scientific Research and Technological Development (DG-RSDT) of Algeria under PRFU project number: A25N01UN240120180002.

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Authors and Affiliations

  1. Department of Electrical and Automatic Engineering, University 8 May 1945 of Guelma, Guelma, Algeria

    Mohammed Aidoud & Abdennour Sebbagh

  2. Universidad de Castilla-La Mancha, Escuela Técnica Superior de Ingenieros Industriales .Av . Camilo Jose Cel a s/n, 3071, Ciudad Real, Spain

    Vicente Feliu-Batlle

  3. Laboratoires des Télécommunications LT. University 8 May 1945 of Guelma, Guelma, Algeria

    Moussa Sedraoui

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  1. Mohammed Aidoud
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  2. Vicente Feliu-Batlle
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Correspondence to Mohammed Aidoud.

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Aidoud, M., Feliu-Batlle, V., Sebbagh, A. et al. Small signal model designing and robust decentralized tilt integral derivative TID controller synthesizing for twin rotor MIMO system. Int. J. Dynam. Control 10, 1657–1673 (2022). https://doi.org/10.1007/s40435-022-00916-6

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  • DOI: https://doi.org/10.1007/s40435-022-00916-6

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