<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2007-9753</journal-id>
<journal-title><![CDATA[RIIIT. Revista internacional de investigación e innovación tecnológica]]></journal-title>
<abbrev-journal-title><![CDATA[RIIIT. Rev. int. investig. innov. tecnol.]]></abbrev-journal-title>
<issn>2007-9753</issn>
<publisher>
<publisher-name><![CDATA[Universidad Autónoma de Coahuila]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2007-97532019000200001</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Diseño, instrumentación y control de un helicóptero de tres grados de libertad]]></article-title>
<article-title xml:lang="en"><![CDATA[Design, instrumentation and control of a three degrees of freedom helicopter]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Brizuela-Mendoza]]></surname>
<given-names><![CDATA[J.A.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rosales-Díaz]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rumbo-Morales]]></surname>
<given-names><![CDATA[J.Y.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Sorcia-Vázquez]]></surname>
<given-names><![CDATA[F.D.J.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Martínez-García]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad de Guadalajara Centro Universitario de los Valles ]]></institution>
<addr-line><![CDATA[Ameca Jalisco]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>04</month>
<year>2019</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>04</month>
<year>2019</year>
</pub-date>
<volume>7</volume>
<numero>37</numero>
<fpage>0</fpage>
<lpage>0</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S2007-97532019000200001&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S2007-97532019000200001&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S2007-97532019000200001&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen El presente artículo aborda el diseño, instrumentación y control de un helicóptero de tres grados de libertad. A lo largo del documento se muestra el diseño mecánico, aquellos elementos que conforman la instrumentación del prototipo y el software encargado de su manipulación, logrando la regulación de cada uno de los grados de libertad del sistema a través de un controlador PID. Se muestran resultados experimentales del control del helicóptero, validando con ello la correcta instrumentación del prototipo.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract The present paper addresses the design, instrumentation and control of a three degrees of freedom helicopter. Throughout the document, the mechanical design and those elements forming part of the prototype instrumentation along with the software aiming at manipulating the dynamical system are presented, achieving the regulation of each degre of freedom by means of an PID controller. Experimental results corroborating the effectiveness of the proposed prototype instrumentation are presented.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Sensors and actuators]]></kwd>
<kwd lng="en"><![CDATA[PID control]]></kwd>
<kwd lng="en"><![CDATA[Helicopter with three degrees of freedom]]></kwd>
<kwd lng="en"><![CDATA[LabVIEW interface]]></kwd>
<kwd lng="es"><![CDATA[Sensores y actuadores]]></kwd>
<kwd lng="es"><![CDATA[Control PID]]></kwd>
<kwd lng="es"><![CDATA[Helicóptero de tres grados de libertad]]></kwd>
<kwd lng="es"><![CDATA[Interfaz LabVIEW]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Asensio]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Pérez]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Morán]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
</person-group>
<source><![CDATA[Aeronaves no tripuladas, beneficios y límites]]></source>
<year>2008</year>
<publisher-name><![CDATA[I.E.S Leonardo Da Vinci]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B2">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Faludi]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
</person-group>
<source><![CDATA[Building Wireless Sensor Networks]]></source>
<year>2010</year>
<edition>Primera</edition>
<publisher-loc><![CDATA[Estados Unidos Americanos ]]></publisher-loc>
<publisher-name><![CDATA[O&#8217;Reilly]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B3">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ogata]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
</person-group>
<source><![CDATA[Ingeniería de Control Moderna]]></source>
<year>2003</year>
<edition>Tercera</edition>
<publisher-name><![CDATA[Prentice Hall]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B4">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Arias]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Vanegas]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Falla de los Materiales Compuestos Laminados]]></article-title>
<source><![CDATA[Scientia el Technica]]></source>
<year>2004</year>
<volume>1</volume>
<page-range>114-6</page-range></nlm-citation>
</ref>
<ref id="B5">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Monzón]]></surname>
<given-names><![CDATA[I.]]></given-names>
</name>
</person-group>
<source><![CDATA[Desarrollo de un cuadricóptero operado por ROS]]></source>
<year>2013</year>
<page-range>6-7</page-range><publisher-name><![CDATA[Publicación Universidad Zaragoza]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B6">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Rtale]]></surname>
<given-names><![CDATA[V.]]></given-names>
</name>
<name>
<surname><![CDATA[Milazzo]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
</person-group>
<source><![CDATA[Simulation of hexacopter flight]]></source>
<year>2014</year>
<page-range>1-2</page-range><publisher-loc><![CDATA[Italia ]]></publisher-loc>
<publisher-name><![CDATA[University of Enna]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B7">
<nlm-citation citation-type="">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Saska]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Lang]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Preucil. Plume Tracking by a Self-stabilized Group of Micro Aerial Vehicles]]></article-title>
<source><![CDATA[Modelling and Simulation for Autonomous Systems]]></source>
<year>2014</year>
<page-range>5-8</page-range></nlm-citation>
</ref>
<ref id="B8">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Seddon]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
</person-group>
<source><![CDATA[Basic Helicopter Aerodynamics]]></source>
<year>1990</year>
<publisher-loc><![CDATA[USA ]]></publisher-loc>
<publisher-name><![CDATA[Blackwell Science Ltd]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B9">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Melgarejo-Rey]]></surname>
<given-names><![CDATA[M.A.]]></given-names>
</name>
<name>
<surname><![CDATA[Bulla-Blanco]]></surname>
<given-names><![CDATA[J.O.]]></given-names>
</name>
<name>
<surname><![CDATA[Sierra-Paez]]></surname>
<given-names><![CDATA[G.K]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[An embedded Type-2 Fuzzy Processor for the Inverted Pendulum Control Problem]]></article-title>
<source><![CDATA[IEEE Latin America Transactions]]></source>
<year>2011</year>
<volume>9</volume>
<numero>3</numero>
<issue>3</issue>
<page-range>240-6</page-range></nlm-citation>
</ref>
<ref id="B10">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Yusuf]]></surname>
<given-names><![CDATA[L.A.]]></given-names>
</name>
<name>
<surname><![CDATA[Magaji]]></surname>
<given-names><![CDATA[N.]]></given-names>
</name>
</person-group>
<source><![CDATA[GA-PID controller for position control of inverted pendulum]]></source>
<year>2014</year>
<conf-name><![CDATA[ 6thInternational Conference on Adaptive Science &amp; Technology (ICAST)]]></conf-name>
<conf-loc>Ota </conf-loc>
<page-range>1-5</page-range></nlm-citation>
</ref>
<ref id="B11">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Gandhi]]></surname>
<given-names><![CDATA[P.S.]]></given-names>
</name>
<name>
<surname><![CDATA[Borja]]></surname>
<given-names><![CDATA[P.]]></given-names>
</name>
<name>
<surname><![CDATA[Ortega]]></surname>
<given-names><![CDATA[R.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Energy shaping control of an inverted flexible pendulum fixed to a cart]]></article-title>
<source><![CDATA[Control Engineering Practice]]></source>
<year>2016</year>
<volume>56</volume>
<page-range>27-36</page-range></nlm-citation>
</ref>
<ref id="B12">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Marton]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Lantos]]></surname>
<given-names><![CDATA[B.]]></given-names>
</name>
</person-group>
<source><![CDATA[Stable Adaptive Ball and Beam Control]]></source>
<year>2006</year>
<conf-name><![CDATA[ IEEE International Conference on Mechatronics]]></conf-name>
<conf-loc>Budapest </conf-loc>
<page-range>507-12</page-range></nlm-citation>
</ref>
<ref id="B13">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Amjad]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Kashif]]></surname>
<given-names><![CDATA[M.I.]]></given-names>
</name>
<name>
<surname><![CDATA[Abdullah]]></surname>
<given-names><![CDATA[S.S.]]></given-names>
</name>
<name>
<surname><![CDATA[Shareef]]></surname>
<given-names><![CDATA[Z.]]></given-names>
</name>
</person-group>
<source><![CDATA[Fuzzy logic control of ball and beam system]]></source>
<year>2010</year>
<conf-name><![CDATA[ International Conference on Education Technology and Computer]]></conf-name>
<conf-loc>Shangai, China </conf-loc>
</nlm-citation>
</ref>
<ref id="B14">
<nlm-citation citation-type="confpro">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Nath]]></surname>
<given-names><![CDATA[U.M.]]></given-names>
</name>
<name>
<surname><![CDATA[Dey]]></surname>
<given-names><![CDATA[C.]]></given-names>
</name>
<name>
<surname><![CDATA[Mudi]]></surname>
<given-names><![CDATA[R.K.]]></given-names>
</name>
</person-group>
<source><![CDATA[Model identification of coupledtank system MIMO process]]></source>
<year>2016</year>
<conf-name><![CDATA[ International Conference on Electrical, Computer and Communication Technologies (ICECCT)]]></conf-name>
<conf-loc>Coimbatore, Tamil Nadu, India </conf-loc>
</nlm-citation>
</ref>
<ref id="B15">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Xiangjie]]></surname>
<given-names><![CDATA[L.]]></given-names>
</name>
<name>
<surname><![CDATA[Sumei]]></surname>
<given-names><![CDATA[F.]]></given-names>
</name>
<name>
<surname><![CDATA[Miaomiao]]></surname>
<given-names><![CDATA[Ma.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Robust MPC for the constrained system with polytopic uncertainty]]></article-title>
<source><![CDATA[International Journal of Systems Science]]></source>
<year>2012</year>
<volume>43</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>248-58</page-range></nlm-citation>
</ref>
<ref id="B16">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Zhai]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
<name>
<surname><![CDATA[Nounou]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Nounou]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<name>
<surname><![CDATA[Al-Hamidi]]></surname>
<given-names><![CDATA[Y.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Model predictive control of a 3-DOF helicopter system using successive linearization]]></article-title>
<source><![CDATA[International Journal of Engineering, Science and Technology]]></source>
<year>2010</year>
<volume>2</volume>
<numero>10</numero>
<issue>10</issue>
<page-range>9-19</page-range></nlm-citation>
</ref>
<ref id="B17">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ishitobi]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Nishi]]></surname>
<given-names><![CDATA[M.]]></given-names>
</name>
<name>
<surname><![CDATA[Nakasaki]]></surname>
<given-names><![CDATA[K.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Nonlinear adaptive model following control for a 3-DOF tandem-rotor model helicopter]]></article-title>
<source><![CDATA[Control Enginnering Practice]]></source>
<year>2010</year>
<volume>10</volume>
<page-range>936-43</page-range></nlm-citation>
</ref>
<ref id="B18">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Ferreira de Loza]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
<name>
<surname><![CDATA[Ríos]]></surname>
<given-names><![CDATA[H.]]></given-names>
</name>
<name>
<surname><![CDATA[Rosales]]></surname>
<given-names><![CDATA[A.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Robust regulation for a 3-DOF helicopter via sliding-mode observation and identi&#64257;cation]]></article-title>
<source><![CDATA[Journal of the Franklin Institute]]></source>
<year>2012</year>
<volume>349</volume>
<page-range>700-18</page-range></nlm-citation>
</ref>
<ref id="B19">
<nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lan]]></surname>
<given-names><![CDATA[J.]]></given-names>
</name>
<name>
<surname><![CDATA[Patton]]></surname>
<given-names><![CDATA[R.J.]]></given-names>
</name>
<name>
<surname><![CDATA[Zhu]]></surname>
<given-names><![CDATA[X.]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Integrated fault-tolerant control for a 3-DOF helicopter with actuator faults and saturation]]></article-title>
<source><![CDATA[IET Control Theory Applications]]></source>
<year>2017</year>
<volume>11</volume>
<numero>14</numero>
<issue>14</issue>
<page-range>2232-41</page-range></nlm-citation>
</ref>
<ref id="B20">
<nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Dorf]]></surname>
<given-names><![CDATA[R.C.]]></given-names>
</name>
<name>
<surname><![CDATA[Bishop]]></surname>
<given-names><![CDATA[R.H.]]></given-names>
</name>
</person-group>
<source><![CDATA[Sistemas de control moderno]]></source>
<year>2005</year>
<publisher-loc><![CDATA[Madrid ]]></publisher-loc>
<publisher-name><![CDATA[Pearson-Prentice Hall]]></publisher-name>
</nlm-citation>
</ref>
</ref-list>
</back>
</article>
