Hovering Blackhawk Example

Model of the pitch attitude control for a Blackhawk helicopter.

While reading some controls groups online I came across a question on how to automatically maintain hover for an RC helicopter. I hadn't modeled a helicopter before so I found a Master's thesis on the topic and began modeling. The result is an SISO model of the pitch attitude control for Blackhawk helicopter. The plant for the vertical altitude and horizontal speed are also included.

Also, I've included a model using gyro feedforward to keep the helicopter in hover despite noise, disturbances, etc.