飞行控制问题是研究倾转旋翼机技术的关键,文献~([1])建立了无人倾转旋翼机非线性动力学模型,并进行了全模式的飞行控制律设计,建立了无人倾转旋翼机的飞行试验系统,进行了地面联调、地面开车试验以及全模式飞行试验并取得成功~([2])。Horowitz教授~([3-4])提出定量反馈理论(QFT),QFT是一种频域鲁棒控制系统设计思想,它将经典控制理论中的频域校正器的设计思想推广应用到对不确定对象 The flight control problem is the key to the research of tilting rotorcraft technology. The literature [1] established the nonlinear dynamics model of the unmanned tiltrotor rotorcraft and carried out the full-mode flight control law design and established an unmanned Rotorcraft flight test system, the ground joint transfer, ground driving test and full mode flight test and success ~ ([2]). Professor Horowitz ~ ([3-4]) put forward quantitative feedback theory (QFT), which is a design idea of ​​frequency domain robust control system. It extends the design idea of ​​frequency domain corrector in classical control theory to Identify the object