The two degree of freedom (2 DOF) helicopter consists of a fixed base with two propellers that are driven by DC motors [1]. One
propeller controls the elevation of the helicopter nose about the pitch axis and the other propeller controls the side to side motion
about the yaw axis [1-2]. High resolution encoders are used to measure the pitch and yaw angles of the system. The 2-DOF helicopter
recreates a behavior that is a subset of a real helicopter dynamics. The helicopter model is a Twin Rotor Multiple-inputs Multipleoutputs System
