本論文目的在設計直昇機總和能量控制系統，利用控制能量狀態變化率與能量分配變化率，達到對高度、速度與飛行路徑角的追蹤。首先以固定翼飛機的總和能量控制系統為基礎，推導出直昇機停懸點之總和能量控制系統線性模型。再運用H∞控制理論與LMI控制器合成方法，設計狀態迴授和輸出迴授控制器。並將直昇機非線性六自由度系統轉為總和能量架構，以線性控制器進行非線性受控系統之動態響應模擬，最後比較不同控制器的模擬結果。

The purpose of this thesis is to design the total energy control system for the helicopter, where energy changing rate and energy distribution rate are used to achieve the tracking of height, speed and flight path angle. First, on the basis of the total energy control system developed for the fix-wing aircraft, we obtain the total energy control system linear model for the helicopter at hovering. Then, using the H∞ control theory and the method of the LMI synthesis, we design the state-feedback and output-feedback controller. After combining the helicopter nonlinear 6 D.O.F system into the total energy structure, the designed LMI linear controller is then applied to the nonlinear system of a helicopter to simulate nonlinear dynamic response. Finally, we compare the simulations obtained by different controllers.

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