Modeling and controller design of twin rotor system/helicopter lab process developed at PIEAS

This report presents the modeling and controller design for a twin rotor system (TRS). This is a two input two output nonlinear system, having strong cross coupling between the inputs and the outputs. The task is to control the angular position (the azimuth angle and the elevation angle) of the system. Nonlinear equations of azimuth and elevation angles are derived in state space using Euler-Lagrange equations. The model is then linearized and the controller is applied to control both the angular positions simultaneously. Rotor forces are calculated experimentally. A set of model parameters for the system is also provided at the end.