Modeling and identification of a sub-mini helicopter

A non-linear parameterized model of a sub-mini helicopter is created. By linearizing the non-linear model in hover, a linear attitude motion model about physical parameters is derived. At last, subspace method based on its discrete state space model is introduced to conduct linear system identification experiments. The simulation results show that the method used can quite correctly identify linear model of the sub-mini helicopter in hover, and the system´s main structure parameters can also been obtained