The laboratory helicopter simulator is a nonlinear two inputs - two outputs system with significant cross-coupling. Controlled variables are position angles (elevation and azimuth), manipulated variables are motor voltages. Self-tuning adaptive controller was designed and tested on the real system. On-line identification of linear model parameters was the first part of self-tuning algorithm and the controller design by IMC (Internal Model Control) method was the second one. The adaptive control algorithm was used for tracking of the reference values of position angles.


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    Title :

    Adaptive control of twin rotor MIMO system


    Contributors:

    Published in:

    Publication date :

    2010


    Size :

    5 Seiten, 3 Bilder, 4 Quellen



    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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