A major difficulty in the practical application of linear-quadratic regulator theory is how to choose the weighting matrices in quadratic cost functions. In this work, the control system design with optimal weighting matrices is applied to a helicopter in the hover and approach phase. The weighting matrices are calculated to extremis the closed loop "Total System Damping" subject to constraints on the determinants. The exterminations is really a minimization of the effects of disturbances, and interpreted as a compromise between the generalized system accuracy and the generalized system response speed. The trade-off between the accuracy and the response speed is adjusted by a single parameter—the ratio of determinants, which is the only arbitrariness left for designer's choice.
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