Control of the Laboratory Helicopter Simulator

The laboratory helicopter simulator is a nonlinear two inputs - two outputs system with significant cross-coupling. The papers deals with control of vertical angle, where the controlled variables was the position angle and the manipulated variable was main motor voltage. The control with PID controller, IMC controller and self-tuning adaptive controller was designed and tested. The control algorithms were used for tracking of the reference values and rejection of disturbances (moving of the tail rotor).