Existing work, to generate an eigenstructure suitable for achieving good short-term attitude command response in a generic single rotor helicopter, is extended here to provide eigenvectors appropriate to the (more complex) rate command case. The generated eigenstructure is, like the original, consistent with the physical relationships between the state variables. It achieves appropriate mode decoupling, and translates exactly into ideal transfer functions for use with a variety of control design methodologies. A simple numerical example is provided to show that the behaviour of a system with this eigenstructure displays the expected response.
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