Nested saturation control based on the extended state observer: Twin rotor MIMO system

This paper is concerned with the control of a laboratory setup called the twin rotor MIMO system. A novel nested saturation controller based on well-known extended state observer is proposed. Extended state observer has been utilized to tackle control difficulties due to existence of a high coupling between system channels. Nested saturation control is also utilized to improve closed-loop performance of system considering inevitable input saturation constraint. Besides the complexity of system, the proposed method can be simply designed and implemented. Numerical simulations are utilized to demonstrate the effectiveness of proposed method in comparison with the existing ones.