Non-linear predictive control of 2 DOF helicopter model

A. Dutka, A.W. Ordys, M.J. Grimble

Research output: Contribution to conferencePaper

52 Citations (Scopus)


This paper presents the application of non-linear predictive control algorithm to a helicopter model. First, the model of the helicopter is discussed. Next, the nonlinear algorithm is introduced which is based on state-space GPC controller. The non-linearity is handled by converting the state-dependent state-space representation into the linear time-varying representation. The predictions of the future controls are used to calculate predictions of the future states and of the future time varying system parameters. Applied to the helicopter model, the algorithm performs well. It is capable of the stabilizing the system for maneuvers for which it's linear counterpart fails.

Original languageEnglish
Number of pages6
Publication statusPublished - Dec 2003
Event42nd IEEE Conference on Decision and Control 2003 - Maui, United States
Duration: 9 Dec 200312 Dec 2003


Conference42nd IEEE Conference on Decision and Control 2003
Country/TerritoryUnited States


  • non-linear
  • predictive control
  • 2 DOF
  • helicopter model
  • control systems
  • time varying systems
  • stability
  • predictive models
  • predictive control
  • prediction algorithms
  • petrochemicals
  • optimal control
  • industrial control
  • helicopters


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