The aim of this paper is to describe in detail the μ -synthesis of a miniature helicopter integral attitude controller of high order and to present results from the hardware-in-the-loop simulation of this controller implementing Digital Signal Processor. The μ -controller designed allows to suppress efficiently wind disturbances in the presence of 25 % input multiplicative uncertainty. A simple position controller is added to ensure tracking of the desired trajectory in 3D space. The results from hardware-in-the-loop simulation are close to the results from double-precision simulation of helicopter control system in Simulink ® . The software platform developed allows to implement easily different sensors, servoactuators and control laws and to investigate the closed-loop system behavior in presence of different disturbances and parameter variations.