Mathematical modelling and controller design for the TRMS (Twin-rotor MIMO System).
This repository contains:
- The nonlinear Euler-Lagrangian model of the TRMS
- Scripts for trimming and linearizing the system
- Scripts for controller design
- Simulink models to evaluate controller performance against the nonlinear system
All development was made in MATLAB and Simulink R2016a. Compatible models for older versions of Simulink are also included.
Mathematical modeling and parameters' numerical values were obtained from the works of Tastemirov, Lecchini-Visintini and Morales-Viviescas (2017) and Rao, Akhila and Morales-Viviescas (2019) for the laboratory equipment produced by Feedback Instruments.
As far as this release, three controllers were developed: a decentralized PID controller, a LQG with integral action regulator and a H-Infinity controller.
Add folders "Model" and "Functions" to MATLAB path.
| File | About |
|---|---|
| TRMS/Functions/filtro_pondera | Filter synthesis |
| TRMS/Functions/info.mat | Plot instructions for "loopview" command |
| TRMS/Model/lib_Lagrangian_Model_Nonlinear.slx | Nonlinear model of the TRMS |
| TRMS/Model/load_TRMS_Linear_Model.m | Trimming and linearization |
| TRMS/Model/load_TRMS_Model_Parameters.m | Loads numerical values of the model |
| TRMS/Model/trim_Lagrangian_Model_Nonlinear.slx | Model used for trimming |
| TRMS/Model/old | Older versions of Simulink models |
| TRMS/design_DecouplingPID.m | Design and linear analysis for PID controller |
| TRMS/design_LQG.m | Design and linear analysis for LQG with integral action controller |
| TRMS/design_HInf.m | Design and linear analysis for H-Infinity controller |
| TRMS/sim_DecouplingPID.slx | Nonlinear simulation of PID controller |
| TRMS/sim_LQG.slx | Nonlinear simulation of LQG with integral action controller |
| TRMS/sim_HInf.slx | Nonlinear simulation of H-Infinity controller |
| TRMS/Model/old | Older versions of Simulink models |