**5. Conclusions**

\* (),

**Figure 10.** Evolution of the angular velocity error vector, () = () − \*()= [() −

**Figure 11.** Evolution of the input voltage vector of the TRMS, () = (),

On the other hand, the efficiency of the inner loop control (electrical controller) is depicted in **Figure 9**, including a comparative between the reference angular velocity vector,

\*() , obtained from the output of the outer loop, and the real magnitudes

() .

() −

\*() =

\* (),

\*()] .

288 Nonlinear Systems - Design, Analysis, Estimation and Control

In this research, a novel nonlinear cascade-based control has been developed for the TRMS platform. The performance of the controller shows very satisfactory results in terms of convergence of the tracking errors for the generalised coordinates of the TRMS to a small neighbourhood to zero, smooth transient responses, low control efforts and robustness against large initial errors and parametric uncertainties in the model. The proposed control is an important base for the subsequent design of novel robust control algorithms in UAV platforms, which interest is notably increasing in recent years thanks to their multiple possibilities and applications. This will be the topic of our future research.
