Abstract
In this paper a complete nonlinear mathematical model of a small scale helicopter is derived. A coupling between input and output variables, revealed by the model, is investigated. The influences that particular inputs have on particular outputs are examined, and their dependence on flying conditions is shown. In order to demonstrate this dependence, the model is linearized in various operating points, and linear, direct and decoupling, controllers are determined. Simulation results, presented at the end of the paper, confirm that the proposed control structure could be successfully used for gain scheduling or switching control of a small scale helicopter in order to provide acrobatic flight by using simple linear controllers.
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