Robust PID control of a two-rotor aerodynamical system with decoupling

Abstract In this work, robust PID design via μ synthesis for controlling a MIMO two-rotor aerodynamic system manufactured by the Polish company Inteco is presented. The controller consists of a decoupling system and two PID controllers. The aim is to demonstrate an approach enabling further fine-tuning based on an already synthesized controller structure. Tools from Robust Control Toolbox in MATLAB are used. The PIDs are constructed as tunablePID objects, and the decoupler is also tunable and has the preset structure of a static gain matrix (tunableGain) or dynamic state-space system with a given number of states (tunableSS). The model contains some parameters with structured uncertainty. Several variants of the controller with a fixed structure have been created, and their performance has been tested by simulation and on the laboratory set-up.