Abstract
In the present work, H infinity \(\left( {H_{\infty } } \right)\) controller on the basis of linear matrix inequality is designed to control TRMS which is a nonlinear highly coupled system. A decoupler is appended to nullify the cross-coupling. The \(H_{\infty }\) controller designed for the decoupled system achieves robust performance even in presence of parametric uncertainty. Perturbations in the moment of inertia of main and tail rotor are considered as parametric uncertainties. The performance of the designed controller is inspected through simulation results in MATLAB/Simulink environment. The responses of the main and tail rotors are found to be adequate.
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References
TRMS 33–949S User Manual, Feedback instruments Ltd., East Sussex, UK
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Appendix
Appendix
Minimization of objective function in MATLAB: Solver for linear objective minimization under LMI constraints
Iterations: | Best objective value so far |
|---|---|
1. | 2.670002 |
2. | 0.019524 |
3. | 0.019524 |
4. | 9.005440e-03 |
5. | 9.244373e-04 |
6. | 9.244373e-04 |
7. | 9.244373e-04 |
8. | 4.591259e-04 |
9. | 6.551457e-05 |
10. | 6.551457e-05 |
11. | 6.551457e-05 |
12. | 1.942346e-05 |
13. | 1.942346e-05 |
14. | 1.942346e-05 |
15. | 1.130349e-05 |
16. | 1.130349e-05 |
17. | 1.115295e-06 |
18. | 1.306157e-07 |
19. | 2.445126e-08 |
20. | 2.445126e-08 |
21. | 2.445126e-08 |
22. | 1.645019e-08 |
23. | 1.525763e-08 |
24. | 1.525763e-08 |
25. | 9.306554e-09 |
26. | 8.736946e-09 |
27. | 8.397046e-09 |
28. | 8.397046e-09 |
29. | 7.318684e-09 |
30. | 7.178155e-09 |
31. | 7.055896e-09 |
32. | 6.979828e-09 |
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Pandey, S.K., Dey, J., Banerjee, S. (2018). Design of H Infinity \(\left( {H_{\infty } } \right)\) Controller for Twin Rotor MIMO System (TRMS) Based on Linear Matrix Inequalities. In: Bhattacharyya, S., Gandhi, T., Sharma, K., Dutta, P. (eds) Advanced Computational and Communication Paradigms. Lecture Notes in Electrical Engineering, vol 475. Springer, Singapore. https://doi.org/10.1007/978-981-10-8240-5_52
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DOI: https://doi.org/10.1007/978-981-10-8240-5_52
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