The control of twin rotor multi-input multi-output system is difficult as it is subjected to model uncertainties and external disturbances. Furthermore, there also exists a coupling between pitch and yaw positions, which makes the system more difficult to control them separately. Considering the above difficulties in twin rotor multi-input multi-output system control, $H_{\infty }\mathrm{-}\mathrm{based}$ robust controller is designed to handle the model uncertainties and external disturbances with two-degree-of-freedom. A mixed sensitivity approach is employed to represent the uncertainties and external disturbances arise in the twin rotor multi-input multi-output system. For performance analysis, first the proposed two-degree-of-freedom $H_{\infty }$ controller is compared with the ‘Linear Quadratic Regulator-Linear Matrix Inequality’–based robust proportional–integral–derivative controller and Internal Model Control–based proportional–integral–derivative controller in MATLAB/Simulation and then in experimentation. From the obtained results, it is confirmed that the proposed controller exhibits enhanced robustness, faster tracking performance and accurate disturbance attenuation, when compared with Linear Quadratic Regulator-Linear Matrix Inequality–based robust proportional–integral–derivative controller and Internal Model Control–based proportional–integral–derivative controller in face of external disturbances and uncertainties.

双转子多输入多输出系统的控制很困难，因为它会受到模型不确定性和外部干扰的影响。此外，俯仰和偏航位置之间也存在耦合，这使得系统更难于分别控制它们。考虑到双转子多输入多输出系统控制中的上述困难，$H_{\infty }\mathrm{--}\mathrm{基于}$鲁棒控制器设计用于处理具有两自由度的模型不确定性和外部干扰。采用混合灵敏度方法来表示双转子多输入多输出系统中的不确定性和外部干扰。为了进行性能分析，首先建议采用两自由度$H_{\infty }$在MATLAB /仿真中，将控制器与基于“线性二次调节器-线性矩阵不等式”的鲁棒比例积分微分控制器和基于内部模型控制的比例积分微分控制器进行比较，然后进行实验。从获得的结果可以证实，与基于线性二次调节器-线性矩阵不等式的鲁棒比例-积分-微分控制器和基于内部模型控制的比例相比，该控制器具有更高的鲁棒性，更快的跟踪性能和精确的干扰衰减。面对外部干扰和不确定性的-积分-微分控制器。