Attitude control of a helicopter model by nonlinear sampled-data H/spl infin/ control

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