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A class of multi‐input multi‐output (MIMO) block lower‐triangular systems are considered with the dynamic and static uncertainties related to the states of the former subsystems. A design procedure of robust tracking controller is presented, which avoids the problem of the “explosion of complexity” and can be implemented very simply. The closed‐loop system possesses robust properties that, 1) all...
A robust nonlinear control method for the vertical motion and rotor speed of a helicopter is presented in this paper. A nonlinear model of vertical motion and rotor speed is considered including the aerodynamics of the main rotor based on blade element method. A nominal MIMO controller for the nominal plant is designed to decouple the dynamics between the vertical motion and the rotor speed and to...
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