Adaptive Control of Twin Rotor MIMO System: Polynomial Approach

This paper presents real – time control of the Twin Rotor MIMO System laboratory model. The objective laboratory model is a multivariable nonlinear unstable system of high order. It is not possible to stabilize the system and satisfactorily track reference signals using classical controllers with fixedly set parameters. Two methods based on self – tuning control utilizing adaptive approach are discussed. Both designed methods are based on polynomial approach. In first case an algorithm taking into account internal interactions among input and output variables was used. The second method utilizes the principle of decentralized control with an additional logical supervisor for switching of the recursive identification in particular loops. In both cases stability of closed loop system was ensured and after an adaptation phase the asymptotic tracking of reference signals was achieved.