Attitude Control of a Helicopter Model by Nonlinear Sampled-data H∞ Control

We consider the attitude control of a helicopter model by affine nonlinear sampled-data H, control. We first show that the nonliner dynamics of a helicopter model can be rewritten as an affine nonlinear system and then we design output feedback H, controller. We show by simulation and experimental results that the output feedback H, controller works well.