A Comparative Analysis of PID, Linear MPC and Non Linear MPC in a 2-DOF Helicopter System

This paper investigates and compares three control methodologies: Proportional-Integral-Derivative (PID), Linear Model Predictive Control (Linear MPC), and Nonlinear Model Predictive Control (Nonlinear MPC) for pitch and yaw regulation in a 2 Degrees of Freedom (DOF) helicopter system. The 2-DOF helicopter platform, known for its inherent instability and nonlinear dynamics, serves as a challenging testbed for advanced control strategies. PID is implemented as a baseline for its simplicity and widespread use, while Linear and Nonlinear MPC are explored for their ability to handle constraints, optimize performance, and address system dynamics. The study includes the mathematical modeling of the system, the design and tuning of each controller, and performance validation through simulations and real-world experiments. Key performance metrics, including tracking accuracy, stability, computational requirements, and robustness under disturbances, are analyzed. The results provide insights into the trade-offs between classical and optimization-based control strategies, highlighting the practical applicability of MPC in dynamic and constrained environments.