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This work presents a bond graph (BG) model and a robust cascaded controller for a twin-rotor system (TRS). The BG model accounts for all the energetic and dynamical couplings. An adaptive integral backstepping sliding mode (AIBSM) controller is used in the outer loop to control the slow yaw and pitch dynamics of the mechanical sub-system whereas a higher-order sliding mode (HOSM) observer-based super-twisting algorithm (STA) controller is used in the inner loop to control the fast electromechanical actuator dynamics. The gain of the disc
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