부산대학교 도서관

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 continuoustime 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.