Design of a PI-D controller of a scaled-model helicopter

Scaled-model helicopters are Multiple-Inputs-Outputs (MIMO) time-varying nolinear highly coupled and unstable machines. They have fast response and controlling them is very complicated and need high degree of precission. In this paper, a detailed nonlinear model is derived. A cascaded PI-D controller is designed and implemented for each control imput. A linear model is obtained around an unaccelerated steady state condition (havering condition) is used to design the PI-D controller in order to control the scaled-model helicopter during vertical, sideward, and forward flight modes. Matlab along with Simulink are used as the platforms for the helicopter model and controller implementation and simulation.

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