A mixed dynamic optimization with µ-synthesis (D-K iterations) via optimal gain for varying dynamics of decoupled twin-rotor MIMO system based on the method of inequality (MOI)

Abstract

The complex structured system always demands efficient optimization to tackle all problems (constraints, parametric perturbation, multiobjective due to conflict of design), which must be achieved simultaneously.This paper provides the experimental validation of dynamic robust mixed optimization based on gain scheduling for the varying constraints of a decoupled Twin Rotor MIMO System (TRMS). As mathematical models have unknown and unmatched nonlinear disturbances with un-modeled states during modeling, that need to be controlled to get optimize the response. Therefore, the design of a suitable controller for robust control of TRMS is a challenging task. To overcome this challenge, the controller design process is divided into two phases. The first phase adopts the Nonlinear Dynamic Inversion (NDI) based decoupled linearization process to obtain the Vertical Plane System (VPS) and Horizontal Plane System (HPS). To reduce the disturbance, the diagonal matrix and decoupling methods are applied simultaneously. In second phase, it covers the suitable choice of weighting functions (gain scheduling) which uses efficient order (reduced order) of the controller to provide satisfactory optimal response. The weighting functions are applied as the design parameters. In this process, the weights are selected in such a way to get the high gain for the low frequency and vice versa. The combined flexible approach with  the $\mu$-synthesis control as a mixed optimization make it mature algorithm to guarantee the robust stability and robust performance at extreme disturbance. The experimental validation of this control strategy verify the worth of the methodology due to optimal selection of the values of tuning parameters. For experimental implementation and validation of $\mu$-synthesis, a simulink/MATLAB coder is used.