Abstract
The complex structured systems always demand efficient optimization to tackle all problems (constraints, parametric perturbation, multiobjective due to conflict of design), which must be achieved simultaneously. This paper provides the experimental validation of dynamic robust mixed optimization based on optimal gain for the varying constraints of a decoupled Twin Rotor MIMO System (TRMS). As mathematical models have unknown and unmatched nonlinear disturbances with un-modeled states during modeling, they need to be controlled to get the required response. Therefore, the design of a suitable controller for robust control of TRMS is a challenging task. The controller design process is divided into two phases to overcome this challenge. The first phase adopts the Nonlinear Dynamic Inversion (NDI) based decoupled linearization process to obtain the Vertical Plane System (VPS) and Horizontal Plane System (HPS). To reduce the disturbance, the diagonal matrix and decoupling methods are applied simultaneously. In the second phase, it covers the suitable choice of weighting functions (optimal gain) which uses the efficient order (reduced order) of the controller to provide a satisfactory optimal response. The weighting functions are applied as the design parameters. In this process, the weights are selected in such a way as to get the high gain for the low frequency and vice versa. The high gain actually depended on the choice of weighting functions which are chosen by considering the open-loop response of the weighted plant. In contrast, D-K iterations are performed to achieve the required output. The combined flexible approach with the mu-synthesis control as a mixed optimization makes it a mature algorithm to guarantee robust stability and robust performance at extreme disturbance. The experimental validation of this control strategy verifies the worth of the methodology due to the optimal selection of the values of tuning parameters. For practical implementation and validation of mu-synthesis, a Simulink/MATLAB coder is used.