Fractional order modeling and control of twin rotor aero dynamical system using Nelder Mead optimization

Salman Ijaz, Mirza Tariq Hamayun, Lin Yan, Muhammad Faisal Mumtaz

Research output: Journal PublicationArticlepeer-review

13 Citations (Scopus)


This paper presents an application of fractional order controller for the control of multi input multi output twin rotor aerodynamic system. Dynamics of the considered system are highly nonlinear and there exists a significant cross-coupling between the horizontal and vertical axes (pitch & yaw). In this paper, a fractional order model of twin rotor aerodynamic system is identified using input output data from nonlinear system. Based upon identified fractional order model, a fractional order PID controller is designed to control the angular position of level bar of twin rotor aerodynamic system. The parameters of controller are tuned using Nelder-Mead optimization and compared with particle swarm optimization techniques. Simulation results on the nonlinear model show a significant improvement in the performance of fractional order PID controller as compared to a classical PID controller.

Original languageEnglish
Pages (from-to)1863-1871
Number of pages9
JournalJournal of Electrical Engineering and Technology
Issue number6
Publication statusPublished - Nov 2016
Externally publishedYes


  • Classical PID
  • Fractional order controller
  • Nelder-Mead optimization
  • Twin rotor

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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