Hamidreza karimi - iran university of Science and Technology and I&C Engineer with Ghods - niroo consulting engineering company, iran university of Science and Technology
Mohammad reza Jahed Motlagh - iran university of Science and Technology and I&C Engineer with Ghods - niroo consulting engineering company, iran university of Science and Technology
jahedmr@iust.ac.ir

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

Uncertain Nonlinear Systems, Robust FeedbackL inearizationT. lvin Rotor