Onboard Multivariable Controller Design for a Small Scale Helicopter   Using Coefficient Diagram Method
  A mini scale helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. These properties make model helicopters, as a flying robot, more difficult to control. The dynamics model accuracy will determine the performance of the designed controller. It is attractive in this regards to have a controller that can accommodate the unmodeled dynamics or parameter changes and perform well in such situations. Coefficient Diagram Method (CDM) is chosen as the candidate to synthesize such a controller due to its simplicity and convenience in demonstrating integrated performance measures including equivalent time constant, stability indices and robustness. In this study, CDM is implemented for a design of multivariable controller for a small scale helicopter during hover and cruise flight. In the synthesis of MIMO CDM, good design common sense based on hands-on experience is necessary. The low level controller algorithm is designed as part of hybrid supervisory control architecture to be implemented on an onboard computer system. Its feasibility and performance are evaluated based on its robustness, desired time domain system responses and compliance to hard-real time requirements. 
A. Budiyono