Sampled-data Controller Design with Application to the Quanser AERO 2-DOF Helicopter

This paper investigates the importance of considering the discrete-time nature of embedded controllers for continuous-time dynamical systems, namely the sampled-data control approach. To illustrate such approach, an experimental study is conducted with the Quanser
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AERO platform in its 2-DOF helicopter configuration. New LMI-based conditions are provided for the design of sampled-data controllers for linear systems. These are obtained from the usual Lyapunov-Krasovskii approach and useful bounding techniques. The results are validated in simulation as well as experimentally, with a successful comparison to conventional continuous-time controllers design by Quanser
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, especially when the sampling period is high.