The Twin Rotor MIMO System is an aero-dynamical model of a helicopter with
significant cross-couplings between longitudinal and lateral directional motions. In
this project there are two main critical parts, which are the development of dynamic
models for the characterization of 1-DOF horizontal and vertical part and also the
design stage of the state-feedback controller to control the main and tail rotor of the
TRMS. The dynamic models ofthemain andtailrotor of theTRMS were obtained by
applying a step input to the rotors independently, one at a time. The step responses
were then evaluated to find the relevantinformation and quantities to develop secondorder
transfer function. From these linearized models, the state-feedback controllers
were designed independently for the main and tail rotor by selecting desired pole
locations and calculating the feedback gains. Real-time experiments were then
performed using the feedback gains obtained to evaluate the performance ofthestatefeedback
controllers designed. Strong interactions between the tail and main rotor
also seen by performing 2-DOFreal-time experiments
