Robust regulation of helicopter model based on the highest derivative in feedback

The problem of robust regulation of a helicopter laboratory model is considered. The applied model has two degrees of freedom and was constructed by HUMUSOFT. This paper presents the design of continuous- time controller based on higher order output derivatives in the feedback loop. The problem of forming desired output transients for nonlinear time-varying plants under conditions of the incomplete information is discussed. The control task is formulated as a tracking problem for output variables, where decoupled output transients are accomplished in spite of incomplete information about varying parameters of the system and external disturbances. Experiments results for tracking a reference signal are presented, and confirm the effectiveness of the proposed method and theoretical expectations.