Comparison of parallel, cascade and hybrid control structures for Two Rotor Aerodynamical System using FOPID controllers

In the Two Rotor Aerodynamical System the aim of the control is to achieve the azimuth and pitch angles reference values. However, TRAS is a non-linear system in which cross-coupling occurs - each of the two rotors affects both angular values. Therefore, to prepare two control values one should use both angular values for each of them. The obvious solution is a system that uses four controllers. In the article it was decided to use only FOPID and to check the behavior of the system in three different arrangements: parallel, cascade and hybrid. The tests were carried out in the Matlab / Simulink environment. For optimization purposes the Grey Wolf Optimizer algorithm was used, which helped to find coefficients.