Disturbance observer based attitude control for a three-degree-of-freedom laboratory helicopter

This paper deals with the attitude control design problem based on Generalized Proportional Integral (GPI) approach and a disturbance observer (DO) for pitch and rolling channels of a three-degree-of-freedom (3-DOF) laboratory helicopter. In the attitude control design, both of the channels are considered as linear systems. The GPI control laws based on integral reconstructions are developed to avoid the use of derivative operators, which can...