RobustF eedbackL tnearrzationC ontrolf or UncertainN onlinearS ystems, Implementedo n HelicopteLr aboratoryM odel

In this paper in order to sttppress the e-ffecot f model uncertaintiesa nd disturbances,a robusl feedback linearizalion control scheme- for a large class of multi-input/multi-outptttn onlinear syslents tvith unknown modeling terms based on Lyapunov function is proposed. To verify the validity and efibctivenesso f the designecl method,t he suggestedt echnicpreh as been applied to a Twin Rotor system. The results of computer simu.lalions with NATLAB on the complete sr)stem and implementation on t'eal model for various ltpes of inputs and dishrrbances have been presentetl. The comparative sndy oJ'these resttlts with lhose obtained i n no mi na I fe e clb ac k I i ne ar iz at io n c ontr o I arc h i te c tur e, state feedback method and PID controller establishes thep erformctnceo fthis nevvc ontrol schente

Keywords:

Uncertain Nonlinear Systems , Robust FeedbackL inearizationT. lvin Rotor