In order to deepen research and apply of control theory and technology, the control of Multi-input Multi-output System (abbr.TRMS) is researched in this thesis.

• 为进一步加深控制理论和技术的研究,并且使其与实际相结合,应用于实际系统中,本文对双旋翼多输入多输出系统的控制进行了研究。