**6. Conclusion**

142 Frontiers of Model Predictive Control

MPC Actual

5 10 15 20 25 30 35

MPC Actual

5 10 15 20 25 30 35

Time (s)

Time (s)

Fig. 7. generated lateral input (MPC) vs lateral command






Amp (Deg)

0

0.2

0.4

0.6




Amp (Deg)

0

0.2

0.4

0.6

Fig. 8. generated longitudinal input (MPC) vs longitudinal command.

In this paper, a MIMO model predictive control (MPC) system is implemented into hardware in the loop based xpc-target rapid-prototype system to guarantee the equilibrium of the helicopter platform. The MIMO MPC design was carried out using an experimentally estimated model of the Helicopter. The performance of the controller is tested in simulation and hardware in the loop using different set-point scenarios. Simulation results showed that the controller can efficiently stabilize the system under all the introduced disturbances. A real time controller based on xpc-target rapid prototype is developed to implement the proposed controller. The ground results proved that the proposed real time MPC can sufficiently stabilize the system in hovering conditions.
