2-DOF helicopter controlling by pole-placements

A two-degree-of-freedom (2DOF) Helicopter is an interesting way to study simple cases of multivariable systems. With existing nonlinearities and output coupling, several control methods can be implemented on this plant. The main objective of this work is to test the pole placement control technique. Therefore, the plants model development is shown using Lagrange's method followed by its linearization around small angles. Next, the controller is designed using the pole placement technique, with the use of integrators to guarantee null steady-state error. Lastly, the controller is simulated with the use of computational tools and tested on the built helicopter.