2021-04-122005-01-0111092734SCOPUS;2-s2.0-29944446842http://hdl.handle.net/10784/27763The application of multirate sampling to the control of an unmanned aerial vehicle (a mini-helicopter robot) using CACSD tools, developed specially for that goal, is presented. Multirate control is tested via simulation over the Matlab/Simulink mini-helicopter model, which is briefly described. A multirate modeling method is presented, which is the base of a CACSD tool for the modeling, simulation and real-time code generation of multirate control systems - the Multirate Control Toolbox (MCT).enghttps://v2.sherpa.ac.uk/id/publication/issn/1109-2734articleComputer aided designComputer simulationHelicoptersMathematical modelsMatrix algebraRobotsSampled data control systemsMini-helicopter robotMultirate control systemsUnmanned aerial vehicleUnmanned vehicles2021-04-12Vélez S., C.M.Agudelo, A.