A Modified Decentralized Adaptive Control For Twin Rotor MIMO System using hyperstability theory

In this paper, a new decentralized adaptive control with modified Minimal Controller Synthesis MCS is proposed to position the beam of the Twin Rotor Multi-input multi-output System (TRMS) at the desired positions quickly and accurately. A new hyperstability based adaptive control technique, called decentralized Error-based minimal controller synthesis with integral action (DEr-MCSI), is developed to deal with disadvantages of MCS algorithm and using the specifications model of TRMS to elaborate the simplified control system. First, the physical model is divided in two cascade blocs presents the electrical and mechanical models of the TRMS. The motor and propeller systems is considered a decoupled electrical system, and its control is achieved by inversion model. The mechanical model is considered as a coupled large-scale system which is decoupled into its vertical and horizontal two SISO sub-model. For each subsystem, an Er-MCSI adaptive controller is designed, and the coupling terms are considered as disturbances to each other. Finally, a two blocs controllers in cascade are applied to original model of TRMS and evaluated in simulations. The results are encouraging and showing that the purpose controlled system is easier to be applied, more robust, and remove gain ‘wind-up’ effects due to plant disturbances and signal offsets.