An H/sub /spl infin// controller for a double rotor system

In this paper the design of an H/sub /spl infin// controller for a double rotor system is presented. This mechanical set features the characteristics of being a multivariable, highly nonlinear, strongly coupled and non-minimum phase system. The H/sub /spl infin// theory for linear systems has been applied after linearizing the dynamics by means of feedback linearization.