폐로식별법에 의한 TRMS 모델링

초록

The closed loop identification is a very useful method for on-line application since it can identify the plant in the closed-loop system composed of the plant and the controller. There are some literatures on CLID, but they are mainly on SISO problem. In this paper, a CLID method is proposed for MIMO systems. The CLID method is applied to a MIMO benchmark plant, TRMS(Twin-Rotor MIMO System). To illustrate the performance of the closed-loop system identification, unit step response in the TRMS are compared with the open-loop identification via some simulations.