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A new method of improved explicit-model-following (EMF), loop-shaping robust control system design is proposed for multi-variable control problem. The method uses EMF's control structure, which includes explicit-model, inverse-model and feedback-control blocks; and uses H ∞ robust control idea, takes inverse-model as feedforward compensation block, designs feedback compensation block shaping plant's singular plot, and designs ∞ H robust feedback control block. Then an attitude controller based on the improved method is designed for an example small-size unmanned helicopter in hover, and the method has good performance and robustness by simulation and robust test.