Attitude Stabilization and Altitude Control of a Twin-Engine Tiltrotor Aerial with Inhomogeneous Propulsion Using Optimal Control

The present work introduces a nonlinear dynamic model of a twin-engine Tiltrotor aerial platform and designs a controller for attitude and altitude with pole placement as performance criterion. The model is linearized, and subsequently, a control design is performed to obtain the optimal proportional-integral controller using liner matrix inequalities conditions. Additionally, simulations verifies the effectiveness of the design method.