Real-Time Performance Analysis of FOI-PD Controller for Twin Rotor MIMO System

摘要

Designing a controller for the Twin Rotor MIMO System (TRMS) is a challenging task due to the presence of high non-linearity and cross-coupling between different elements. In this paper, a Fractional Order Integral-Proportional Derivative (FOI-PD) controller has been realized and implemented in both simulation and real-time for the control of pitch and yaw angle of the TRMS. The novelty of the present work lies in the implementation of the robust FOI-PD controller, which has not yet been explored by the researchers for the TRMS kit to the best of authors' knowledge. The nonlinear interior point optimization technique (fmincon function available in MATLAB optimization toolbox) has been utilized to identify the suitable controller parameter values by minimizing the cost functions within a predefined interval of controller parameters. The transient performance of the FOI-PD controller is studied and compared with those of the IOPID and IOI-PD controller. The observation reveals that the FOI-PD controller outperforms both the IOPID and IOI-PD controller in terms of overshoot and settling time. It has been further observed that the control signal gets improved as the structure moves from the PID to I-PD and integer order to the fractional order. The robustness analysis has also been incorporated to show the effectiveness of the FOI-PD controller.