Open AccessDesign and implementation of decoupled compensation for a twin rotor multiple‐input and multiple‐output system
Author(s) -
Pradhan Jatin Kumar,
Ghosh Arun
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2012.0162
Subject(s) - control theory (sociology) , decoupling (probability) , robustness (evolution) , transfer function , closed loop transfer function , computer science , compensation (psychology) , control engineering , engineering , control (management) , psychology , artificial intelligence , psychoanalysis , biochemistry , chemistry , electrical engineering , gene
This study achieves compensation of a physical twin rotor multiple‐input and multiple‐output system in two steps: (i) input–output decoupling its transfer function model, obtained by linearising its non‐linear model around an operating point, using an open‐loop, minimal precompensator and (ii) effecting 2‐degree of freedom single‐input and single‐output (SISO) compensations for the resulting SISO‐decoupled units. While step (i) ensures decoupling in the responses, the other performances (such as robustness, tracking, disturbance rejection, etc.) can be achieved using SISO compensations in step (ii) above. The performances of the compensated system in respect of decoupling, loop robustness and disturbance rejection are verified through simulations and experiments. The results are also compared with the existing ones.