This paper describes the control of a helicopter with one degree of freedom.System differential equations coefficients were identified by experiments in order to simulate the characteristic behavior of the machine.Later on,different controllers were designed to estimate which one provides the best output.These controllers include a PID,Pole Placement and Linear Quadratic Regulator.PID controller represents a first approximation just to demonstrate that what is designed in the simulated model will work similarly in the real system.Later on,a pole placement controller offers the possibility of a more customized and accurate response and finally LQR is designed as a more sophisticated element where also the energy is taken into account.