Roshan Sharma
Department of Electrical Engineering, IT, and Cybernetics, University College of Southeast Norway, Norway
Carlos F. Pfeiffer
Department of Electrical Engineering, IT, and Cybernetics, University College of Southeast Norway, Norway
Download article
http://dx.doi.org/10.3384/ecp17138271Published in: Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th – 27th, 2017
Linköping Electronic Conference Proceedings 138:36, p. 271-279
Published: 2017-09-27
ISBN: 978-91-7685-417-4
ISSN: 1650-3686 (print), 1650-3740 (online)
The two degrees of freedom (2-DOF) helicopter is an
openloop unstable multi-variable process. Various control
strategies can be applied to stabilize the system for tracking
and regulation problems but not all control methods
show equal capabilities for stabilizing the system. This
paper compares the implementation of a classical PID
controller, a linear quadratic regulator with integral action
(LQR+I) and a model predictive controller (MPC) for
stabilizing the system. It has been hypothesized that for
such an unstable MIMO (multi input multi output) process
showing cross coupling behavior, the model based
controllers produces smoother control inputs than the classical
controller. The paper also discusses the necessity of
including the derivative part of the PID controller for stabilization
and its influence to the measurement noises. A
Kalman filter used for estimating unmeasured states may
produce bias due to model mismatch. The implementation
and comparison is based on a 2-DOF experimental
helicopter prototype.