**4. Experimental setup**

A part of this work is to implement the above Simulink model to the target PC-104. Fig.2 presents the overall experimental prototype setup. The IMU sensor was mounted on the

(a): xpctarget prototype configuration

(b): Helicopter platform

nose of the helicopter and connected to the target PC-104 through a serial port. The corresponding pins of the I/O counter/timer board were connected to the servo actuators via a servo interface circuit. This circuit is an RC filter used to protect the I/O board form noises produced by the Helicopter components such as the actuators. The PC-104's processor runs the developed system in real time operating system.
