*5.4.2.2 Pitch LQR-PD controller*

In this section, an optimized LQR-PD controller based on GA tuning approach is designed to control the dynamic model of helicopter pitch angle. Based on the optimized PD parameters stated in **Table 3**, the output response of the proposed helicopter tracking system is illustrated in **Figure 14**. It is obvious from the minifigure of the system response that the LQR-PD controller succeeded to force the pitch angle state of the helicopter system to follow the desired trajectory effectively without overshoot, shorter rise and settling time and zero steady state tracking error.
