multi input-multi output

In this paper, an almost new control approach called terminal synergetic control which works based on user defined manifold is applied to a nonlinear helicopter model. Stability analysis is convestigated using Lyapunov stability theory. Synergetic controller is applied to this nonlinear fifth-order helicopter model to control height and angle. Simulation results showed that it has faster and smoother response in tracking reference inputs in comparison to sliding mode control, intelligent autopilot controller and feedback linearization method.