Design of nonlinear robust H∞ controller for Twine Rotor helicopter

In this paper, at first Laboratory twine rotor model is chosen for modeling of twine rotor helicopter and two different types of controllers are proposed. Nonlinear robust and LQR controllers applied to mentioned model. In design of nonlinear robust controller a nonlinear feedback control law is used to remove system dynamic and replace error dynamics and a nonlinear H∞ controller is proposed for disturbance rejection and a PID solution is presented for H∞ control problem. Moreover another LQR controller and applied on linearized model. Results of both controllers are compared. In fact various simulations are done because of indicating system responses nature. Simulation results show that nonlinear robust controller is more efficient in signal tracking.