Disturbance Compensation and Control Algorithm with Application for Non-linear Twin Rotor MIMO System

  • Alexey Margun
  • Igor Furtat
  • Dmitry Bazylev
  • Artem Kremlev
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 644)


The disturbance compensation algorithm for continuous-time multi input multi output (MIMO) nonlinear plants under parametric uncertainties and external disturbances with quantized output signal is proposed. The auxiliary loop approach is used for estimation disturbance function. The proposed algorithm guarantees that the output of the plant tracks the reference output with the required accuracy. The experimental results on non-linear twin rotor MIMO system illustrate the efficiency and robustness of the suggested control system.


Robust control Quantized measurement Disturbances compensation MIMO systems 



This work was partially financially supported by Government of Russian Federation, Grant 074-U01. This work was supported by the Ministry of Education and Science of Russian Federation (Project 14.Z50.31.0031). The work was supported by the Russian Federation President Grant (No. MD-6325.2016.8). This work was supported by the Russian Federation President Grant 14.Y31.16.9281.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Alexey Margun
    • 1
  • Igor Furtat
    • 1
    • 2
  • Dmitry Bazylev
    • 1
  • Artem Kremlev
    • 1
  1. 1.Control Systems and Informatics DepartmentITMO UniversitySaint PetersburgRussia
  2. 2.Control of Complex Systems LaboratoryInstitute for Problems of Mechanical EngineeringSaint PetersburgRussia

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