Quasi-LPV modeling, identification and control of a twin rotor MIMO system

This paper describes the quasi-linear parameter varying (quasi-LPV) modeling, identification and control of a Twin Rotor MIMO System (TRMS). The non-linear model of the TRMS is transformed into a quasi-LPV system and approximated in a polytopic way. The unknown model parameters have been calibrated by means of the non-linear least squares identification approach and validated against real data. Finally, an LPV state observer and state-feedback controller have been designed using an LPV pole placement method based on LMI regions. The effectiveness and performance of the proposed control approach have been proved both in simulation and on the real set-up.

► The non-linear model of the TRMS is improved and used for obtaining a quasi-LPV model. ► The quasi-LPV model is calibrated using data collected from the real lab set-up. ► The LMI-based control theory is applied for designing the controller and observer. ► The proposed modeling, identification and control are applied to a real TRMS. ► The whole procedure can be a guide for the control of complex non-linear systems.