A QFT robust controller as a remedy for TRMS

    Mostafa Honari-Torshizi Affiliation
    ; Hossein Rahmani   Affiliation
    ; Hossein Moeinkhah   Affiliation
    ; Mohammad Reza Gharib Affiliation
    ; Javad Jahanpour   Affiliation


Control of a Twin Rotor Multi-input Multi-output System (TRMS) is not a simple work. Because it has complex nonlinear dynamics, cross-coupling, uncertainties, and instability. This paper provides a practical method for control of a TRMS, named Quantitative Feedback Theory (QFT) as one of the robust approaches. Firstly, the TRMS set and modeling procedure are introduced. Secondly, the nonlinear and linear equations of electrical and mechanical parts in both vertical and horizontal planes are presented. Next, using the QFT method, a controller is designed for motion in each plane. Finally, the robustness of the control strategy is illustrated by simulations of vertical and horizontal motions, including controller and pre-filter in the presence of uncertainties. The results demonstrate that the proposed robust controller can guarantee the system stabilization, as well as pitch and yaw tracking of TRMS.

Keyword : QFT, robust control, TRMS, uncertainty, simulation, cross-coupling

How to Cite
Honari-Torshizi, M., Rahmani, H., Moeinkhah, H., Gharib, M.R. and Jahanpour, J. 2020. A QFT robust controller as a remedy for TRMS. Aviation. 24, 4 (Nov. 2020), 137-148. DOI:
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Nov 5, 2020
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