COMPENSATOR DESIGN FOR TWIN ROTOR SYSTEMS A Thesis Submitted to the Graduate School of Engineering and Sciences of iumir Institute of Technology in Partial Fulfillment of the Requirements for the Degree of MASTER OF SCIENCE in Electronics and Communication Engineering by Meryem DENIZ July 2015 izmir‘We approve the thesis of Meryem DENIZ Examining Committee Members: Prof. Dr. AYDOGAN SAVRAN Department of Electrical and Electronics Engineering Ege University Assoc. Prof. Dr. ENVER TATLICIOGLU Department of Electrical and Electronics Engineering Izmir Institute of Technology Assist. Prof. Dr. BARBAROS OZDEMIREL Department of Electrical and Electronics Engineering tmir Institute of Technology 24 July 2015 Assoc. Prof, Dr. Enver TATLICIOGLU Supervisor, Department of Electrical and Electronics Engineering tumir Institute of Technology Prof. Dr. M. Salih DINLEYICi Prof. Dr. Bilge KARACALI Head of the Department of Dean of the Graduate School of Electrical and Electronics Engineering Engineering and SciencesACKNOWLEDGMENTS First of all, I would like to express my deep gratitude to my advisor Assoc. Prof. Dr. Enver Tatheiflu for his understanding, guidance, encouragement and incredible support in every stage of my thesis study. I would like to thank committee members for giving me contribution which helped me a lot in revising the thesis I would like to express my sincere thanks to Assist. Prof. Dr. Alper Bayrak for his supports, helps and favours. I would like to thank Assist, Prof. Dr. M. I. Can Dede for his helps and support. I would like to thank Baris Bidikls, Emre Uzunoglu, Merve Dogan and Ummiigiilsiim Sezis for their support. Also I would like to thank Iztech Robotics laboratory members for their help and favour, Twould like to thank The Scientific and Technological Research Council of Turkey for providing me financial support under grant number 113E 147. ‘The research leading to this thesis has received funding from IYTE University Research Grant Commission under grant number 2010-IYTE-15. Finally I would like to thank my parents, Hulusi and Hanife Deniz for their sup- port, prayers and encouragement. Additionally, I would like to thank my brother and my sister, Akan and Hazal Deniz for their good wishes.