Helicopter is an aircraft that plays important role in transporting products, people…in society
nowadays. It is complex mechanical equipment that corresponds many fields such as fluid
mechanics, mechanics, control…Design it probably easy but fabrication and control it are not
The aim of research is to obtain a simulation and control model for the setup that has the
principle of function like a real helicopter in laboratory in Automatic Control Department in
Technical University Catalonia – Barcelona. This setup names Twin Rotor Multi Inputs - Multi
Outputs System (TRMS) is manufactured by the Feedback Instruments Limited Company. It
serves as a guide for the control tasks and provides useful information about the physical
behavior of the system. It is also useful setup for study and practice of students to have a
On the main originalities of the present master thesis is the use on a control oriented model
based on the use of a model that has linear structure but parameters varying with the
operating point. This type of model is known as Linear Parameter Varying model (shortly,
LPV model). Two procedures to obtain such a model are proposed. One based of rearranging
the non-linear equations in such a way that the LPV parameters appear linearly. The second
is based on linearizing the non-linear model around different operating points and the
interpolation the parameters between them.
Finally, the LPV model for the TRMS system obtained using either of the procedures
described above can be calibrated using standard parameter estimation algorithms available
in the Identification Toolbox in MATLAB.
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