Design and real-time implementation of robust PID controller for Twin Rotor MIMO System (TRMS) based on Kharitonov's theorem

In this paper design and real-time implementation of robust PID controller is performed for a Twin Rotor MIMO System (TRMS) which is a laboratory scale set-up of a helicopter. The robust PID controller is designed employing Kharitonov stability theorem. The controller design is based on the linearised model of highly nonlinear TRMS. The performance of the compensated system is investigated through experimental results with the laboratory prototype model. The time domain responses for the main and tail rotors are found to be satisfactory. The controller provides comparable performances as presented in the literature for similar system.