Abstract: Unmanned Aerial Vehicle become popular and very useful today. Unmanned Aerial Vehicle types have fixed wing UAV and rotary wing UAV. Among rotary wing UAV, helicopter type is chosen to implement the mathematical model for UAH. Since these helicopter mathematical model is very complex and inflexible, simple model “minimum-complexity helicopter simulation math model” (MCHSMM) is used to develop a non-linear mathematical model R-50 helicopter for this work. This modeling consists of three blocks: (1) Rigid body dynamics, (2) Force and torque dynamics, and (3) Flapping and thrust dynamics. Each of these are implemented in MATALB SIMULINK. There are four control inputs: ulat (lateral control input), ulong (longitudinal control input), ucol (collective control input) and uped (pedal control input). By alternating positive, negative, and zero to four control inputs, the resultant responses of positions, Euler angles, translatory velocities, angular velocities and flapping angles are simulated. The stability analysis for UAH are also analyzed and simulation results provides the real world approaches for UAH system.