Fractional-order identification and control of a twin rotor MIMO system (TRMS)

Abstract

In this project we present fractional-order identification and control of the Twin Rotor MIMO System. We start by introducing the necessary mathematical concepts of fractional calculus and then of fractional control theory in which we discuss all the necessary theoretical tools used in the study. Afterwards, we estimate several mathematical representations for our TRMS alongside with a detailed physical study of the system. Three different mathematical models are identified and compared: a linear integer-order model, a linear fractional-order model and a nonlinear integer-order model. We also discuss the possibility of establishing a nonlinear fractional-order model. Finally we design integerorder and fractional-order PID controllers to stabilize and control the TRMS. The design is made using particle swarm optimization to tune the controllers parameters.