Kp + Ki * ---
s
with Kp = -0.0969, Ki = -1.2
Name: PI2
Continuous-time PI controller in parallel form.
Block 3: rct_helico/PI3 =
1
Kp + Ki * ---
s
with Kp = 0.139, Ki = -2.28
Name: PI3
Continuous-time PI controller in parallel form.
Block 4: rct_helico/SOF =
D =
u1 u2 u3 u4 u5
y1 2.44 -0.3681 -0.001726 0.8086 -0.02256
y2 -0.1343 -1.133 0.03813 -0.04675 -0.1053
y3 0.000474 0.002382 -1.98 -0.05822 0.03363
Name: SOF
Static gain.
Benefit of the Inner Loop
You may wonder whether the static output feedback is necessary and whether PID
controllers aren't enough to control the helicopter. This question is easily answered by re-
tuning the controller with the inner loop open. First break the inner loop by adding a loop
opening after the SOF block:
addOpening(ST0,'SOF')
Multiloop Control of a Helicopter