Modeling and Design of an Optimal Regulator for Three Degree of Freedom Helicopter/Twin Rotor Control System

This report presents the modeling and controller design of three degree of freedom Helicopter/Twin rotor control system. The system is multi- input multi-output (MIMO) having highly nonlinear dynamics and static input nonlinearities. The dynamics of the system have been derived using Euler-Lagrange approach. The system has two inputs and three outputs. The present model is derived with the purpose of accurate simulation of the Twin rotor system (Helicopter) when it is moving upward. The task is control the azimuth and elevation angle and the height. The system is linearized and an optimal controller has been designed to control the azimuth angle, elevation angle as well as the height. At the end we have presented the open loop and closed loop responses of the system. A set of model parameters is also given at the end.