Helicopter is a >Rotary_Wing_Aircraft
It is a >VTOL aircraft which uses rotating blades in order to create forces necessary to lift and move it's body
Helicopter has >6DOF, which contribute to maintain helicopter in flight position:
~ >Longitudinal_Motion
~ >Lateral_Motion
~ >Heave
~ >Roll
~ >Pitch
~ >Yaw

To permorm different kind of motions, helicopter depends on main and tail rotor's forces and moments,
which relate to body, main rotor and tail rotor aerodynamics as well as horizontal and vertical stabilizers.

Because of helicopter's construction characteristics some of control commands result in >undesired motions.
Helicopter's motion controller should be able to counterbalance undesired motions caused by cross-couplings.

catch >Content @Formulas!