In this paper we propose a new method for the design of an output feedback controller for a helicopter which is an uncertain, input-nonaffine, Multi-Input-Multi-Output (MIMO), nonlinear system. By combining dynamic inversion control together with extended high-gain observer, our output feedback controller is able to bring the trajectories of the closed-loop system arbitrarily close to that of a given target system. The conditions applicable to a helicopter model for dynamic inversion control are obtained. The proposed method is illustrated by simulation.

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