Helicopter is an aircraft that plays important role in transporting products, people…in societynowadays. It is complex mechanical equipment that corresponds many fields such as fluidmechanics, mechanics, control…Design it probably easy but fabrication and control it are notsimple problem.The aim of research is to obtain a simulation and control model for the setup that has theprinciple of function like a real helicopter in laboratory in Automatic Control Department inTechnical University Catalonia – Barcelona. This setup names Twin Rotor Multi Inputs - MultiOutputs System (TRMS) is manufactured by the Feedback Instruments Limited Company. Itserves as a guide for the control tasks and provides useful information about the physicalbehavior of the system. It is also useful setup for study and practice of students to have aclearer look.On the main originalities of the present master thesis is the use on a control oriented modelbased on the use of a model that has linear structure but parameters varying with theoperating point. This type of model is known as Linear Parameter Varying model (shortly,LPV model). Two procedures to obtain such a model are proposed. One based of rearrangingthe non-linear equations in such a way that the LPV parameters appear linearly. The secondis based on linearizing the non-linear model around different operating points and theinterpolation the parameters between them.Finally, the LPV model for the TRMS system obtained using either of the proceduresdescribed above can be calibrated using standard parameter estimation algorithms availablein the Identification Toolbox in MATLAB.