This is the 28-dimensional model of a helicopter previously studied using SpaceEx [1]. It has a 8 dimensional helicopter model and 20 dimensional controller.

## Dynamics

$$ \begin{array}{l} \dot x = Ax \end{array} $$

where \(A \in \mathbb{R}^{28 \times 28} \) is a \(28 \times 28 \) dimensional matrix. Details could be found at [1]

**Properties**

Please see details in the attached file

## Reachtube generated by C2E2

Link to the example file:helicopter

Reference:

[1] Skogestad, Sigurd, and Ian Postlethwaite. “Multivariable Feedback Control-Analysis and Design: Solutiona Manual Part I.” (2005).