Control of a Twin Rotor MIMO System using a TS Fuzzy TITO PD Controller

Twin Rotor MIMO System (TRMS) is a highly complex nonlinear two-input two-output (TITO) system. Its quite challenging to control the pitch and yaw motion of TRMS simultaneously due to coupling. Therefore, this paper aims at 2-degree of freedom (DoF) control of a laboratory based TRMS. We deploy the simplest TS fuzzy TITO proportional derivative (PD) controller to control the pitch and yaw motions simultaneously. A modified form of rule base is considered to reduce the computational complexity. Further minimum number of fuzzy sets is employed on each input. Simulation studies are conducted on TRMS with TS fuzzy TITO PD controller and linear PD controller to compare the performances.