## 5 Experimental Results  
To examine the practical effectiveness of the proposed controller, it was implemented into the \(TRMS\) whose parameters are specified in Table 1. The \((PCI1771)\) laboratory unit is a feedback system consisting of two blocks: a feedback encoder block and a feedback \(DAC\) block. The \(TRMS\) uses two encoders to transmit the measurements of (\(\psi\)) and (\(\phi\)) to the feedback encoder block. This block has three parameters: a sample time of 0.001 \(sec\), and offsets for channel one and channel two. Channel one corresponds to the first output of the encoder (\(\psi\)), while channel two corresponds to the second output of the encoder (\(\phi\)). The value of the digital input provided to the \(PCI1771\) is transformed into an analog response by the feedback \(DAC\) block. \begin{table}
\begin{tabular}{l c c c c c c} \hline \hline \multirow{2}{*}{**Controller**} & \multicolumn{3}{c}{**Vertical Plane**} & \multicolumn{3}{c}{**Horizontal Plane**} \\ \cline{2-7}  & \(IAE\) & \(ISE\) & \(TV\) & \(IAE\) & \(ISE\) & \(TV\) \\ \hline SP & 1.124 & 0.057 & 2.646 & 2.274 & 0.2073 & 3.969 \\ SP-H & 0.6582 & 0.01 & 4.177 & 1.292 & 0.1055 & 4.794 \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Performance comparison of controllers for horizontal and vertical planes in a simulation setting. The proposed \(SP\) control schemes were tested in real time by applying Simulink in Matlab on the actual \(TRMS\) as shown in Figure 6. To demonstrate the performance of the proposed approach, experimental tests were conducted for the trajectory tracking problem of the \(TRMS\). The experiments were conducted in a university laboratory under controlled conditions. The \(TRMS\) setup, including the fan, data acquisition card, and computer, was placed on a stable table and isolated from external environmental disturbances. The main source of noise was the airflow generated by the fan, which was considered during testing. To evaluate the robustness of the proposed \(SP-H\) control technique for rejecting external disturbances, a disturbance was introduced to the \(TRMS\) at \(t=80\) s. This disturbance consisted of an airstream generated by a Duracraft fan (240 V, 50 Hz, 50 W) placed approximately half a meter away from the system, directed at both the tail and main rotors. The airflow began approximately 80 s after the start of the experiment. The experiment results are shown in Figures 7 and 8. Figure 7b shows the performance of both controllers in controlling the vertical plane. It can be observed that while both controllers achieve satisfactory tracking of the reference signal, the \(SP-H\) controller exhibits a superior transient response, particularly in the presence of external disturbances. The \(SP-H\) controller reduces the overshoot and improves compared to the standard SP scheme, highlighting its robustness under real-world conditions. Similarly, Figure 8b presents experimental outcomes for horizontal plane control. Both control schemes demonstrate effective reference tracking; however, the \(SP-H\) controller shows enhanced disturbance rejection capabilities. During disturbance events, the \(SP-H\) maintains a smoother and faster recovery, whereas the standard SP controller displays larger deviations. Figures 7a and 8a illustrate the experimental control signals corresponding to the vertical and horizontal planes, respectively. These experimental findings confirm the improved performance of the proposed \(SP-H\) method in practical scenarios, validating the advantages previously observed in simulation. Table 3 presents a comparison of the time-domain responses of the \(SP\) and \(SP-H\) controllers based on experimental results when subjected to disturbances from the ventilator's airflow. The maximum error \(ME\) in this table is defined as \(max_{t\in[80,\infty]}|(r(t)-y(t))|\), and the \(IAE\), \(ISE\) and \(TV\) are also reanalyzed.