A combined observer, filter and feedback linearization methodology control a laboratory helicopter

In this paper a sequential methodology to apply the feedback linearization technique for systems in which the measured signals are affected by noise, is presented. The methodology combines model identification and parameter tuning in order to use the resultant model as a non-linear observer and as a non-linear fitter. Once the model is validated, it is used to linearize the system by feedback. The methodology has been tested by experimental results using a laboratory helicopter.