Twin-rotor two-input two-output (TITO) aerodynamical system (TRAS) is a highly non-linear system with a cross-coupling effect. The objective of the controller design in TRAS is to track the trajectory of azimuth and pitch angles, reach the desired azimuth and pitch angle positions, and stabilize TRAS in the presence of significant cross-coupling. The coupling effect between the main rotor and tail rotor is a severe issue for the controller design. So, this paper proposes a proportional integral derivative double derivative (PIDD2) controller design for TRAS, first time. Further, the tuning of PIDD2 controller is carried out via a modified grey wolf optimizer (MGWO). Besides, the real-time hardware-in-loop (HIL) implementation of the PIDD2 controller with the TRAS laboratory prototype setup is carried out, first-time. Moreover, It is tested under external disturbances for robustness and effectiveness analyses. In addition, this paper performs both simulations as well as hardware results analyses. These analyses reveal that the experimental results are found to match closely with simulation results. Finally, the efficacy of the proposed control design approach is presented by comparing it with the recently published controldesign schemes.

双转子两输入两输出（TITO）气动系统（TRAS）是具有交叉耦合作用的高度非线性系统。TRAS中控制器设计的目的是跟踪方位角和俯仰角的轨迹，达到所需的方位角和俯仰角位置，并在存在明显交叉耦合的情况下稳定TRAS。主转子和尾转子之间的耦合效应对于控制器设计是一个严重的问题。因此，本文首次提出了针对TRAS的比例积分微分双导数（PIDD2）控制器设计。此外，通过改进的灰太狼优化器（MGWO）进行PIDD2控制器的调整。此外，首次执行了带有TRAS实验室原型设置的PIDD2控制器的实时硬件在环（HIL）实现。而且，在外部干扰下对其进行了测试，以进行稳健性和有效性分析。此外，本文还执行了仿真以及硬件结果分析。这些分析表明，实验结果与仿真结果非常吻合。最后，通过与最近发布的控制设计方案进行比较，提出了所提出的控制设计方法的有效性。