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## Case study 2: robust control of miniature helicopter

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The aim of this case study is to present in detail the μ synthesis of a high-order integral attitude controller of a miniature helicopter and to demonstrate results from the hardware-in-the-loop simulation of the helicopter control system. The μ controller designed for hovering allows to suppress efficiently strong wind disturbances in the presence of 15 percent input multiplicative uncertainty. A simple position controller is added to ensure tracking of a desired trajectory in the 3D space. The results from hardware-in-the-loop simulation are close to the results from the double-precision simulation of helicopter control system in Simulink®. It is shown that even for large deviations of the helicopter variables from their trim values in hovering the control system has acceptable performance. The software platform developed allows to implement easily different sensors, servoactuators, and control laws and to investigate the closed-loop system behavior in the presence of different disturbances, noises, and parameter variations.

Chapter Contents:

• 6.1 Helicopter model
• 6.1.1 Nonlinear helicopter model
• 6.1.2 Linearized model
• 6.1.3 Uncertain model
• 6.2 Synthesis of attitude controller
• 6.2.1 Performance requirements
• 6.2.2 Controller design
• 6.2.3 Frequency responses
• 6.2.4 Transient responses of the linear system
• 6.2.5 Position controller design
• 6.3 Hardware-in-the-loop simulation
• 6.3.1 Nonlinear system simulation
• 6.3.2 HIL simulation setup
• 6.3.3 Results of HIL simulation
• 6.4 Notes and references

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