Model Predictive Control for Twin Rotor MIMO system (TRMS)

Twin Rotor MIMO System (TRMS) is an aerodynamic experimental system with high nonlinearity which incluces two inputs, two outputs, and six states. In the world, this system has been studied and applied in reality in order to evaluate and implement advanced control algorithms [1], [2], [3], [8], [9]. In Vietnam, though the TRMSs have been installed in some university laboratories, it is still difficult to use for testing modern control algorithms because there is no exact mathematical model of the systems. The documents and software provided on a laboratory equipment provider in the algorithm stops classical PID controller. In this paper we will present the results applying Model Predictive Control (MPC) for TRMS based on the its mathematical model we have built recently