Decentralized 2 degree of freedom loop shaping H∞ controller for twin rotor aerodynamic system

In this paper, a decentralized controller is designed for cross coupled MIMO Twin rotor aerodynamic system (TRAS). The decentralized controller design is done by decoupling the MIMO system into two decoupled, a pitch and a yaw system. Then 2-DOF controller is designed using control technique in continuous and discrete time. The performance of these controllers are tested through extensive simulations in MatLAB and results are compared between discrete and continuous time systems.