Proceedings of the International Conference on Intelligent Systems for a Sustainable Future (ISSF 2026)

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Mathematical Modelling and Controller Design for 3 Degrees of Freedom Helicopter System

Authors
Ankita Ankita1, Tarun Kasa2, Khushi Arora2, Sai Adithya Pavan Jayanthi2, Vidya S. Rao1, *, B. G. Kavyashree3
1School of Electrical Engineering, Manipal Institute of Technology, MAHE, Manipal, India
2School of Mechanical Engineering, Manipal Institute of Technology, MAHE, Manipal, India
3Department of Civil Engineering, Dr. TMA Pai Polytechnic, Manipal, India
*Corresponding author. Email: rao.vidya@manipal.edu
Corresponding Author
Vidya S. Rao
Available Online 16 June 2026.
DOI
10.2991/978-94-6239-693-7_50How to use a DOI?
Keywords
Dynamic system; State space; Ultimate gain; Controller
Abstract

This paper presents a comprehensive study on the mathematical modeling and control design for a three degree of freedom helicopter system. The mathematical modeling, linearization, and control design of a three degree of freedom helicopter system are the main focus of this study. The initial phase focuses on system dynamics, beginning with the derivation of the nonlinear equations of motion using fundamental principles captured in free-body diagrams. These equations, which describe the complex, coupled dynamics of the system, are then simplified into a linearized model. This linear model provides the essential framework for subsequent controller synthesis. The second phase involves the design control strategy using ultimate gain technique. Techniques, including the classic Proportional-Integral-Derivative control, the optimal Linear Quadratic Regulator, and the advanced constraint handling Model Predictive Control, will be developed. The performance of these controllers will first be validated via detailed simulations in MATLAB/Simulink before being implemented on the actual hardware.

Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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Volume Title
Proceedings of the International Conference on Intelligent Systems for a Sustainable Future (ISSF 2026)
Series
Atlantis Highlights in Intelligent Systems
Publication Date
16 June 2026
ISBN
978-94-6239-693-7
ISSN
2589-4919
DOI
10.2991/978-94-6239-693-7_50How to use a DOI?
Copyright
© 2026 The Author(s)
Open Access
Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

Cite this article

risenwbib
TY  - CONF
AU  - Ankita Ankita
AU  - Tarun Kasa
AU  - Khushi Arora
AU  - Sai Adithya Pavan Jayanthi
AU  - Vidya S. Rao
AU  - B. G. Kavyashree
PY  - 2026
DA  - 2026/06/16
TI  - Mathematical Modelling and Controller Design for 3 Degrees of Freedom Helicopter System
BT  - Proceedings of the International Conference on Intelligent Systems for a Sustainable Future (ISSF 2026)
PB  - Atlantis Press
SP  - 506
EP  - 513
SN  - 2589-4919
UR  - https://doi.org/10.2991/978-94-6239-693-7_50
DO  - 10.2991/978-94-6239-693-7_50
ID  - Ankita2026
ER  -