2021-04-122006-01-0111092777SCOPUS;2-s2.0-33746933772http://hdl.handle.net/10784/27762This paper shows the control and parameter estimation of a mini-helicopter robot using a rapid prototyping environment based on Matlab/Simulink. The parameter estimation task is facilitated by the availability of a block-based visual simulation model and its integration in a general Matlab environment, with the feasibility of use of many other tools. The environment is integrated by modules which use common Matlab tools (ground control station, linearization, parameter estimation, heuristic identification) and own modules developed specifically for simulation, state estimation and multirate control. An example is presented in a software-in-the-loop context, showing all possibilities of the software environment including supervisory, estimation, linearization, and control tasks.enghttps://v2.sherpa.ac.uk/id/publication/issn/1109-2777articleComputer simulationHelicoptersHeuristic methodsIdentification (control systems)LinearizationMathematical modelsParameter estimationRapid prototypingAerospace simulationHelicopter controlSoftware-in-the-loopVisual simulation modelRobotics2021-04-12Vélez S., C.M.Agudelo, A.