The twin rotor MIMO system is a laboratory setup resembling the dynamics of a helicopter. It is a complicated non linear system with heavy cross coupling effects between the propellers commonly used for verification of control methods and observers. In this paper the robustness and tracking capabilities of the decoupled system are evaluated and compared using PID controllers, LQI controller and a robust optimal controller. It was observed that the robust optimal controller exhibited superior performance to the output feedback and optimal controllers.
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