A New Controlling Method for TRMS Based on Robust Approach

This paper provides a new method for control of a twin rotor multi-input multi-output system (TRMS), which it is named quantitative feedback theory (QFT). At first, the model of TRMSand differences/similarities in comparison with helicopter is introduced. The equations of motion by considering motion in both vertical and horizontal planes and relation betweeninput and output of motors are obtained. The nonlinear TRMS is separated to two single inputsingle output systems and state space equations for motion in each plane are presented. Then by linearization, the transfer functions for motion in each plane are achieved. Finally, usingQFT method, controllers are designed for motion in each plane. Also, simulations for steptracking have been carried out which indicates successful design of controllers and pre-filters

Keywords:

QFT , Robust Control , State Space , TRMS