μ-Synthesis FO-PID for Twin Rotor Aerodynamic System

μ-synthesis is a NP-hard optimization problem based on the generalized Robust Control framework which manages to find controller fulfills both robust stability and performance. In order solve such problems, nonsmooth techniques are employed nearly-optimal parameters values. However, free available for tuning must be involved only in classical arithmetic operations, leads fractional-order operator or its integer-order approximation, exponential operations being involved. The main goal of current article consists presenting possibility integrate fixed-structure multiple-input-multiple-output (MIMO) proportional-integral-derivative (FO-PID) problem. solution set tunable isomorphic with that coefficients approximation fractional element, along formulation mixed-sensitivity loop shaping control proposed design procedure applied twin rotor aerodynamic system (TRAS) using MATLAB numerical simulation practical experiments laboratory scale equipment. Moreover, comparison unstructured performed, highlighting advantages solution: simpler form guaranteed