Cover
Vol. 21 No. 1 (2025)

Published: September 19, 2025

Pages: 36-43

Original Article

Robust Low Pass Filter-PID Controller for 2-DOF Helicopter System

Shatha Abd Al Kareem Mohammed 1 Ali Hussien Mary
1Department of Mechatronics Engineering, Al-Khwarizmi College of Engineering, University of Baghdad, Baghdad, Iraq
History
  • Received: October 28, 2023
  • Revised: December 16, 2023
  • Accepted: December 28, 2023
  • Available Online: November 1, 2024
DOI

https://doi.org/10.37917/ijeee.21.1.4

Abstract

In this article, a robust control technique for 2-DOF helicopter system is presented. The 2-DOF helicopter system is 2 inputs and 2 outputs system that is suffering from the high nonlinearity and strong coupling. This paper focuses on design a simple, robust, and optimal controller for the helicopter system. Moreover, The proposed control method takes into account effects of the measurement noise in the closed loop system that effect on the performance of controller as well as the external disturbance. The proposed controller combines low pass filter with robust PID controller to ensure good tracking performance with high robustness. A low pass filter and PID controller are designed based H∞weighted mixed sensitivity. Nonlinear dynamic model of 2-DOF helicopter system linearized and then decoupled into pitch and yaw models. Finally, proposed controller applied for each model. Matlab program is used to check effectiveness the proposed control method. Simulation results show that the proposed controllers has best tracking performance with no overshot and the smallest settling time with respect to standard H∞and optimized PID controller.

Keywords

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