INPUTS
 main rotor collective
 longitudinal cyclic
 lateral cyclic
 tail rotor collective

 STATES
 pitch attitude           theta       [rad]
 roll attitude            phi         [rad]
 roll rate (body-axis)    p           [rad/s]
 pitch rate (body-axis)   q           [rad/s]
 yaw rate                 xi          [rad/s]
 forward velocity         v_x         [ft/s]
 lateral velocity         v_y         [ft/s]
 vertical velocity        v_z         [ft/s]

 OUTPUTS
 heave velocity           H_dot       [ft/s]
 pitch attitude           theta       [rad]
 roll attitude            phi         [rad]
 heading rate             psi_dot     [rad/s]
 roll rate                p           [rad/s]
 pitch rate               q           [rad/s]
 

References
[1] Skogestad, S. and Postlethwaite I. (2005) Multivariable Feedback Control: Analysis and Design: Second Edition. Wiley. http://www.nt.ntnu.no/users/skoge/book/2nd_edition/matlab_m/matfiles.html

Source Code: WestlandLynx