Time Optimal and Robust Control of Twin Rotor System

This paper presents a new method to implement a time optimal control for a twin rotor MIMO system. We first decouple this MIMO system into two independent SISO systems, and consider the coupling effects as disturbances or the change of system parameters. For each of the SISO system, we design a time optimal robust controller, then join them together. As these optimal controllers can tolerate 50 % changes in system parameters, the joined system can tolerate the coupling effects and keep its original SISO performance. This new method is evaluated in both simulations using Simulink.