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Mathematical Problems in Engineering
Volume 2017 (2017), Article ID 6519497, 12 pages
Research Article

Iterative Learning Control Experimental Results in Twin-Rotor Device

1Escola Tècnica Superior d’Enginyeria Industrial de Barcelona (ETSEIB), Departament d’Enginyeria de Sistemes, Automàtica i Informàtica Industrial (ESAII), Universitat Politècnica de Catalunya, Barcelona, Spain
2Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Llorens i Artigas 4-6, Barcelona, Spain
3Department of Electric and Electronic Engineering, Universidad Nacional de Colombia, Bogotá, Colombia

Correspondence should be addressed to G. A. Ramos

Received 28 April 2017; Accepted 25 September 2017; Published 26 October 2017

Academic Editor: Yuri Vladimirovich Mikhlin

Copyright © 2017 R. Mascaró Palliser et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents the results of applying the Iterative Learning Control algorithms to a Twin-Rotor Multiple-Input Multiple-Output System (TRMS) in order to achieve high performance in repetitive tracking of trajectories. The plant, which is similar to a prototype of helicopter, is characterized by its highly nonlinear and cross-coupled dynamics. In the first phase, the system is modelled using the Lagrangian approach and combining theoretical and experimental results. Thereafter, a hierarchical control architecture which combines a baseline feedback controller with an Iterative Learning Control algorithm is developed. Finally, the responses of the real device and a complete analysis of the learning behaviour are exposed.