The design and flight-testing of a multivariahle helicopter flight-control system is reported on. The design was based on H , optimization and a low-order rigid-hody model of the aircrafl dynamics. The test-aircraft was a modified Rell 205.Evaluations were carried out at hover and lowlmoderate speed. The controller successfully engaged first time and provided adequate-to-desired (level 2) performance on a number of tasks. This is believed to he the first successfnl Right-test of an H-infinity optimal multivariahle controller on a mtorcraft.

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