identification modeling and characteristics of miniature rotorcraft introduces an approach to developing a simple and effective linear parameterized model of vehicle dynamics using the cifer identification tool created by the army/nasa rotorcraft division. it also presents the first application of the advanced control system optimization tool conduit to systematically and efficiently tune control laws for a model-scale uav helicopter against multiple and competing dynamic response criteria. identification modeling and characteristics of miniature rotorcraft presents the detailed account of how the theory was developed, the experimentation performed, and how the results were used. this book will serve as a basic and illustrative guide for all students that are interested in developing autonomous flying helicopters.