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The Twin Rotor MIMO System (TRMS) is a laboratory set-up designed for control experiments. In certain aspects its behaviour resembles that of a helicopter. From the control point of view it exemplifies a high order nonlinear system with significant cross-couplings. A mathematical model design of TRMS needs knowledge of aero dynamical physic laws.
The TRMS consists of a beam pivoted on its base in such a way that it can rotate freely both in the horizontal and vertical planes. At both ends of the beam there are rotors (the main and tail ones) driven by DC motors.
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