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<p>This work introduces the design of a Continuous Integral Sliding Mode Controller (CISMC) with the implementation of Iterative Learning Control (ILC) for the inner loop of the cascade controller of Twin Rotor MIMO (multi-input-multi-output) System (TRMS) for efficient tracking of yaw and pitch angular position without altering the performance characteristics of&#xa0;the outer loop controller. Initially, a simulation work is presented by considering only inner loop dynamics with the application of designed CISMC, Sliding Mode Controller (SMC) and Super Twisting Controller (STC) with and without implementation ILC to compare the tracking ability of those algorithms. Subsequently, the same control algorithms are applied to inner loop of cascade controller considering angular speeds of motor derived from control input of outer loop as the reference input. This work aims to showcase the response characteristics of those algorithms concerning finite time stability, steady-state error, and transient tracking of inner loop dynamics, both alone and in cascade controller configuration. It also shows the significant improvement of tracking of angular position in outer loop when CISMC is combined with ILC algorithms in inner loop.</p>

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Iterative learning control in inner loop for efficient tracking of cascaded outer loop controller of twin rotor MIMO system

  • 期刊论文

  • 发表日期：

    2025年11月11日

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  • Debashish Nanda,
  • Sanjoy K Ghoshal

摘要

This work introduces the design of a Continuous Integral Sliding Mode Controller (CISMC) with the implementation of Iterative Learning Control (ILC) for the inner loop of the cascade controller of Twin Rotor MIMO (multi-input-multi-output) System (TRMS) for efficient tracking of yaw and pitch angular position without altering the performance characteristics of the outer loop controller. Initially, a simulation work is presented by considering only inner loop dynamics with the application of designed CISMC, Sliding Mode Controller (SMC) and Super Twisting Controller (STC) with and without implementation ILC to compare the tracking ability of those algorithms. Subsequently, the same control algorithms are applied to inner loop of cascade controller considering angular speeds of motor derived from control input of outer loop as the reference input. This work aims to showcase the response characteristics of those algorithms concerning finite time stability, steady-state error, and transient tracking of inner loop dynamics, both alone and in cascade controller configuration. It also shows the significant improvement of tracking of angular position in outer loop when CISMC is combined with ILC algorithms in inner loop.