DP11.4 A high-performance helicopter has a model shown in Figure DP11.4. The goal is to control the pitch angle ( ) t of the

DP11.4 A high-performance helicopter has a model shown in Figure DP11.4. The goal is to control the pitch angle θ( )t of the helicopter by adjusting the rotor thrust angle δ( )t . The equations of motion of the helicopter are

(t)=(t)-ax (1) + n(1) (t) = g(t)-a20(1) - 02x(1) + 88(1), Body fixed axis 18(1) 0(1) x(t) FIGURE DP11.4 Helicopter pitch angle, 0, control.