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This article presents a robust control scheme for the trajectory tracking problem of a three-degree-offreedom helicopter with prescribed transient and steadystate performance. The control design does not employ any information regarding the dynamics of the system. In addition, the transient and steady-state response of the system with respect to a given time-varying trajectory is a priori and explicitly imposed by certain designer-specified performance functions and is fully decoupled from the control gain selection and the dynamic model parameters. Finally, both simulation and experimental results verify the theoretical findings.