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This paper describes the experimental identifi-
cation of the parameters of the Twin Rotor MIMO System
(TRMS) non-linear model using data collected from the real lab
set-up. From this non-linear model, a quasi-linear parameter
varying (quasi-LPV) model has also been derived using a state
transformation. This quasi-LPV model is approximated with
a polytopic model using the bounding box approach. Such
a model can later be used for control design. The model
parameters have been calibrated by means of non-linear least-
squares identification approach. Once the calibrated non-linear
model has been obtained, a simulator has been built and
validated against real data showing satisfactory results when
compared to real data.
CitationNejjari, F., Rotondo, D., Puig, V., Innocenti, M. Quasi-LPV modelling and non-linear identification of a twin rotor system. A: Mediterranean Conference on Control and Automation. "20th Mediterranean Conference on Control & Automation". Barcelona: 2012, p. 230-234.
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