A PID control for the helicopter attitude control experimental model using FRIT method

The disturbance attenuation FRIT method for regulator problems tunes the control parameters so that the disturbance response follows the disturbance reference model output. We have recently proposed such a disturbance attenuation FRIT method. This paper applies the disturbance attenuation FRIT method to a PID control gain tuning for an attitude control for a helicopter experimental model. The proposed method uses the one-shot input-output signal generated by a known step-type test signal added at the input signal for PID gains tuning so that the plant output follows the disturbance reference model output. The efficiency of the proposed method is shown through the experimental results of an attitude control for a helicopter experimental model against the step-type disturbances.