Real-Time State Estimation of Twin Rotor Multi-Input Multi-Output (MIMO) System Using Variants of Kalman Filter: A Comparative Analysis

Estimation of unavailable state for a nonlinear system is an integral part of nonlinear control design. It is extremely important that the estimation technique should be accurate. In this work, a comparative analysis is done to estimate the unavailable state of twin rotor MIMO system (TRMS) using extended Kalman filter (EKF), unscented Kalman filter (UKF) and ensemble Kalman filter (EnKF) in real-time. For analysis, root means square error (RMSE) and the computation time are considered. From both simulation and real-time results, the performance of all the three nonlinear Kalman filter is studied. This helps a control designer to choose a proper estimation technique for control applications.