2 DOF Helicopter Controls Research Plant—The Quanser 2 DOF Helicopter Experiment includes a model helicopter body and a metal base. The helicopter has two propellers mounted perpendicularly to each other that are both actuated by DC motors. This setup emulates the common helicopter configuration with a main rotor and anti-torque tail rotor. The slip ring mechanism on the vertical axis allows the body to freely rotate about the yaw angle by eliminating wires that connect the motors and encoders to the base. The Quanser 2 DOF Helicopter Experiment system offers students a unique opportunity to gain hands-on experience and learn introductory concepts of flight dynamics and control.