Intelligent Controller Design for MIMO Systems using Model-Free Control and LMI Approaches Applied on a Twin Rotor MIMO System

This paper presents a restructured intelligent Model-Free Control (MFC) algorithm that is designed for Multi-Input-Multi-Output (MIMO) system. In the literature, MFC is designed for Single-Input-Single-Output (SISO) system, where MIMO system is controlled by decomposing it into multi-SISO systems, and then MFC controller is applied on each one of them. The complexity of implementing multi-MFC controllers can be reduced by using the proposed MIMO-MFC controller. Moreover, the ultra-local model gain matrix in the MIMO-MFC structure will be computed using Linear Matrix Inequality (LMI) to ensure the system stability, while in the classical MFC technique, the controller gain is found empirically by the means of trial and error. The unmodeled system dynamics and the different uncertainties can be compensated by the MIMO-MFC where various feedback controllers are failing to cope with. A real-time comparison between the PID controller and the proposed MIMO-MFC controller will be implemented and tested on a Twin Rotor MIMO System (TRMS). The robustness of the proposed algorithm will be tested against an actuator-fault and induced-disturbance during the real-time tests to validate the claims about the control performance enhancements.