Suboptimal control algorithm for nonlinear MIMO System

The article is devoted to the development of a suboptimal control algorithm that can be applied to control real technical systems. The linearization part is based on the desire to get the suitable linear model for the application of optimal control algorithms and at the same time to take into account all influences of nonlinear components. For the synthesis of the suboptimal control law, we used the method of Lagrange multipliers and the Pontryagin´s maximum principle. The article also indirectly considers the fundamental principles of the calculus of variations, such as the Bellman´s principle of optimality. We selected Twin Rotor MIMO System as the plant for the mathematical modeling and experimental verification of results.