2017 Volume 30 Issue 11 Pages 411-419
Our two-degree-of-freedom helicopter apparatus is a nonlinear and multiple-input multiple-output system. Therefore, it is difficult to design the controller which guarantees the desired performance in the wide range. In this paper, we design I-PD controller based on the DE (differential evolution) method, which is one of evolutionary computing algorithms, in consideration of the nonlinearity and the cross coupling. Finally, the validity of our designing method is shown through some experiments.