**Author details**

Ibrahim K. Mohammed Systems and Control Engineering Department, College of Electronics Engineering, Ninevah University, Mosul, Iraq

\*Address all correspondence to: ibrahim.mohammed@uoninevah@.edu.iq

© 2020 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

**6. Conclusions**

**Figure 15.**

**Figure 16.**

**Table 4.**

**38**

*Closed-loop response of the travel model system.*

*Conrol input of 3DOF helicopter control system.*

*Values of performance elements s of controllers.*

In this study, a new hybrid control methodology has been developed for complex dynamical systems through combinig the LQR optimal technique with traditional PID controller. An efficient hybrid control system has been designed to stabilize 3DOF helicopter systems. The dynamics of elevation, pitch and travel axis

**Controller** *tr***(s)** *ts***(s)** *Mo* **%** Elevation PID 0.343 0.535 1.1 Pitch PD 0.582 1.05 0 Travel PI 1.17 12.4 5.29

*Control Based on PID Framework - The Mutual Promotion of Control and Identification…*
