**Development of Real-Time Hardware in the Loop Based MPC for Small-Scale Helicopter**

Zahari Taha2, Abdelhakim Deboucha1,

Azeddein Kinsheel1 and Raja Ariffin Bin Raja Ghazilla1

*1Centre for Product Design and Manufacturing Department of Engineering Design, Manufacture Faculty of Engineering- University of Malaya, Kuala Lumpur, 2Department of Manufacturing Engineering, University Malaysia Pahang, Gambang, Pahang, Malaysia* 
