Optimal Robust Design for a Twin Rotor System Using Multi-objective Genetic Algorithm Tuned Model Predictive Controller

Twin rotor MIMO system (TRMS) are widely used in the aerospace application. TRMS consist of two rotors one is for the horizontal moment and other for the vertical moment. These two rotors are attached on a beam for the counter balance, which ensures the safety of the helicopter. For controlling the TRMS mechanical parts and electrical circuitry are used together. In this paper multi-objective genetic algorithm (MOGA) tuned model predictive controller (MPC) is considered for the robust control of pitch and yaw angle in TRMS system. Robust control of the pitch and yaw angle is essential when disturbance or noise is present in the system. To assure robustness and tracking of the system, the controller design problem is formulated as infinity norm of sensitivity function as first objective and integral square error as the second objective of the system.