This work is the continuation of the research from the two theses PA_wil_03_3 and PA2_Bhi_03_2. The goal of this thesis is the realisation of a hovering control of a model helicopter. A helicopter pictures a four axes, cross coupled, nonlinear and unstable system.

A physical model is used to simulate and evaluate different measurement and control concepts. To improve the disturbance reaction of the controlled system, the axes get decoupled by a feed forward control. Due to the non linearity an adaptive solution is being realised.

Few sensors require microcontrollers, which command the measuring, record measurements and convert them into analogue voltage signals. A direct current motor is used to drive the two rotors. To provide enough power to the motor, a high performance amplifier is being built.

Finally the real helicopter will be controlled. The controllers from the computer simulation can be adopted. The control of the flying altitude as well as the yaw angle works completely stand- alone. On the other two axes a position signal is not yet available. Therefore a drifting of the helicopter in horizontal directions can not be avoided. The drift can be compensated manually, by adjusting the set value of the pitch and roll angle with a joystick.