<i>H</i> <sub>¥</sub>- SYNTHESIS OF CONTROLLER WITH RESTRICTION ON POLE LOCATION AND FREQUENCY DOMAIN CONSTRAINTS IN THE TASK OF ROBUST ALTITUDE HOLD
H<sub>¥</sub>-method of loopshaping with a restriction on the pole location of a closed-loop system in a given area allows to synthesize a robust controller taking into account the requirements for a closed-loop system over the entire frequency range, where requirements are set both in the frequency domain and in the time domain. The article presents the results of the synthesis of a controller that hold the helicopter altitude for several different cases in hover and low flight speeds under the influence of wind at V = 0 km/h, at V = 70 km/h, at YVy=-0.5 1/s and Yφ=1.0472 m/s2/g. The durations of external wind disturbance were 1 and 40 seconds. The measured values were the vertical speed and the altitude change.