A General Controller Scheme for Stabilization & Disturbance Rejection with Application to Non-Linear Systems and its Implementation on 2 DOF Helicopter

TL;DR

This paper introduces a universal control scheme derived from linear system theory to stabilize non-linear systems and reject disturbances, validated through implementation on a 2 DOF helicopter with experimental results.

Contribution

It extends linear control concepts to non-linear systems, providing a systematic method for stabilization and disturbance rejection with practical hardware validation.

Findings

Controller effectively stabilizes non-linear systems.

Disturbance rejection is achieved through the proposed scheme.

Hardware implementation confirms theoretical results.

Abstract

A general controller scheme for stabilizing a non-linear system, which has its origin from the linear system theory, is proposed in this paper. The proposed controller can stabilize the non-linear system subjected to initial conditions. An effective way to obtain the controller parameters is presented with the knowledge of the system model. The controller is designed for the linear time-invariant (LTI) system, which can reject any disturbance acting on it. Paper emphasis the idea of an integrator controller in disturbance rejection. The concept is extended to the application to non-linear systems where the non-linearities are assessed as the disturbance to the refined linear part of the system. Boundedness and convergence of the non-linear system with the controller are proved to justify system stabilization. Hardware implementation of the controller on the 2 dof helicopter model is presented with experimental results, which validates the proposed control scheme.