Four Rotor Helicopter Control Laboratory Plant

In this paper, a test-bed for teaching in multivariable system is presented. Firstly, the different aspects of the prototype construction will be described, making a special emphasis in the mechanics, the design of the sensorial and actuation systems and the prototype control. Next, the real time control software will be explained. The mathematical model of the plant is presented in order to design a control strategy, test it in simulation and validate in the real system.