Modelling of the Twin Rotor MIMO System (TRMS) Using the First Principles Approach

The didactic ubiquitous rotorcraft, the Twin-Rotor Multi-Input Multi-Output System (TRMS) model, a universal laboratory apparatus/hardware is employed in this aerodynamics/ aeronautics modelling research work. From the survey conducted revealed that several advanced modelling techniques/approaches have been employed to control its flight/motion and operation. But due to a significant cross-linkage dynamics existing between the rotating twin rotors, cause the TRMS to be highly nonlinear, high-dimensional and complex, thus posing various control and modelling challenges. The complexity of this problem is comparable and analogous to a real-life helicopter. An optimal model-based solution to this has been presented here, based on the Newtonian and Lagrangian laws for nonlinear optimal control.