This work obtains the appropriate parameters for proportional, integral,
and derivative controllers for a Twin Rotor Multivariable System to achieve good tracking performance using a novel method combined with the model reduction method. The Fuzzy control method with the multi-section gains and derivatives is also applied to improve tracking performance and solve the disturbance problem caused by the air flows. Both methods are
implemented by the proposed real-time control system. Simulation and
experiment results verify the effectiveness of the proposed methods.