Accepted Manuscript Not Copyedited Robust MIMO H ∞ Integral-Backstepping PID Controller for Hovering Control of Unmanned Model Helicopter Wisnu Adi Pradana 1 , Endra Joelianto 2, , Agus Budiyono 3* and Widyawardana Adiprawita 3 1 Department of Engineering Physics, Institut Teknologi Bandung, Jl. Ganesha 10 Bandung 40132, Indonesia 2 Department of Engineering Physics, Institut Teknologi Bandung, Jl. Ganesha 10 Bandung 40132, Indonesia 3 Smart Robot Center, Department of Aerospace Information Engineering, Konkuk University, Seoul, Korea 4 School of Electrical Engineering and Informatics, Institut Teknologi Bandung, Jl. Ganesha 10 Bandung 40132, Indonesia * E-mail: agus@konkuk.ac.kr (for corresponding author) Fax: +82-22-450-3817 Keywords: MIMO integral-backstepping, PID controller, H ∞ synthesis, algebraic Riccati equation ABSTRACT The problem of stabilization of model helicopter in a hover configuration subject to parametric uncertainty and external disturbances is addressed. In the paper, MIMO PID control law is reformulated into a full state feedback control law in order to syntesize the controller using robust H ∞ control theory. In full state feedback representation, it appears that PID controller has implicit integral-backstepping structure. Therefore, it can be introduced a new parameter ρ which acts on the derivative of the control signal. The parameters of MIMO PID controller are then obtained by solving algebraic Riccati equation by selecting the value of ρ and γ. Simulation with respect to a model helicopter is carried out to verify the performance of the proposed controller to stabilize the uncertain helicopter model and to suppres external disturbances. Journal of Aerospace Engineering. Submitted November 2, 2009; accepted August 4, 2010; posted ahead of print August 13, 2010. doi:10.1061/(ASCE)AS.1943-5525.0000074 Copyright 2010 by the American Society of Civil Engineers