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State Feedback Controller Design for a Twin-Rotor Helicopter Model via Real-Time Linearization

In this paper, a method to improve the state feedback controller design is proposed for a nonlinear system. The main idea of this paper is providing a desired and uniform performance for all operating point of a Twin-Rotor helicopter model, a nonlinear system with fast and unstable dynamics. In the first step of controller design the possibility of using the method for all of linearized models is investigated that shows the necessity of general controllability and observability around whole possible operation points of system. Although the introduced method is only applicable for a special class of nonlinear systems and needs more considerations in controller parameters tuning, it drastically improves the performance of such a nonlinear system and provides more robustness against disturbances and fast changing in dynamics of system.