Real-time implementation of state observers for twin rotor MIMO system: an experimental evaluation

摘要

This paper presents an experimental evaluation of three different kinds of real-time state observers for twin rotor multiple-input-multiple-output (MIMO) system. The twin rotor MIMO system (TRMS) exemplifies a high order non-linear system with significant cross couplings. Based on the experimental results a comparative analysis of Chebyshev neural network-based observer and sliding mode observer with local state observer is presented. Finally, the robustness issues are also addressed.