ZG control and simulation of helicopter using Taylor-Zhang discretization formula

In this paper, the displacement control and angle control of helicopter sling load system are investigated respectively by using zeroing-dynamics (ZD) method and zeroing-gradient (ZG) method, through which we yield corresponding ZD controller and ZG controller. More importantly, the recently new formula termed Taylor-Zhang discretization (TZD) formula is derived and applied to the discrete control and simulation of the helicopter sling load system. Corresponding numerical results evince that the TZD formula has high efficacy in discretizing ZD and ZG controllers of the helicopter system.