Automatic control of 2DOF helicopter

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The goal of the theme is to design a control system to manipulate the pitch and yaw of a 2 DOF helicopter, derive the mathematical model and make simulations in MATLAB environment. The mechanical system consists of two DC motors mounted at the two ends of a rectangular frame and drive two propellers. The motors are mounted at 90 degrees such that one causes pitch and the other causes yaw of the helicopter. The coupling between the pitch and yaw motor torques results in a coupled 2 input-2 output system. More precise specifications can be found at