Robust D-Stable Control with Gain Minimization of a 2DOF Helicopter

Ângelo Caregnato¹; Rubens Junqueira Magalhães Afonso¹

¹ Instituto Tecnológico de Aeronáutica

Resumo

This work presents the design of a robust D-stable state-feedback controller for a 2 degrees of freedom (DOF) helicopter with uncertain dynamics. The controller is suited for practical implementation through gain minimization and the controller design is carried out with linear matrix inequalities (LMIs). The objective is obtain good performance despite the model uncertainties. A practical implementation validates the effectiveness of the controller in an experimental environment.