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This paper describes the linear parameter varying (LPV) modelling and control of the Twin Rotor MIMO System (TRMS) developed by Feedback Instruments Limited. The non linear model of the TRMS is transformed into a quasi-LPV system and then approximated in a polytopic way. Using the LPV LMI pole placement approach, a LPV observer/controller for the TRMS is designed. The proposed modelling and control approach is demonstrated in simulation to prove its effective ness and performance.