Redesign implementation of a nonlinear sampled-data controller for a 3-DOF model helicopter

This paper considers redesign implementation of a nonlinear sampled-data controller for a 3-DOF model helicopter. To improve the control performance, an emulation input is modified by an additional signal. The previous method is based on the Euler approximate model, and the improvement of the control performance cannot be expected. It is shown that the improved Euler model can achieve a better control performance. Since the 3-DOF model helicopter is not decouplable via static state feedback, dynamic state feedback is introduced and a further modification to the redesign input is given.