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In this paper, I focus on the design and implementation of a controller for a two degree-of-freedom system. A nonlinear robust adaptive control technique is proposed to control the altitude of a small-scale helicopter for hovering as well as vertically take-off/landing near the ground surface in the presence of strong horizontal wind gusts. In order to stabilize the vertical dynamics of the small-scale helicopter, a recursive (backstepping) design procedure is used to design the robust adaptivedoi:10.13189/ujca.2013.010205 fatcat:j2ifri2uxbcc3pwi6hqhkjslze