Computation of the zero error manifold for a problem of smooth vertical landing of an helicopter

In this paper, we consider the problem of computing the steady state solutions of a model of an helicopter, in the particular case in which the center of mass is subject to vertical oscillations. We present preliminary studies of a complete design of an internal model-based controller to achieve automatic smooth landing of helicopters on an oscillating platform. We model the reference signal as the output of an autonomous stable system (exosystem) and we derive the regulator equations for the problem in question. An approximated solution of the regulator equations, based on series expansion, is provided.