The problem of Multi-Input-Multi-Output (MIMO) control has always been an interesting sub-field within the field of control. Among the systems that require MIMO control, the helicopter stands out as one of the prominent examples. This type of aircraft requires two rotors, rotating in perpendicular planes, therefore can not rely on Single-Input-Single-Output controllers to maneuver in the space. Also, un-manned helicopters have not yet been seen in armies worldwide, this fact gives the task of developing MIMO control systems for helicopters a large room to grow. In order to model the helicopter in laboratorial space, a Twin-Rotor Apparatus has been developed by Feedback company. This apparatus is being studied in Universitat Politècnica de Catalunya, Spain, to provide a good model for teaching and research in the field of MIMO control, with the aim to develop more efficient control methods for the real helicopter. The complete mechanical model for this apparatus has been developed using the software MAPLE. Based on this mechanical model, several control schemes are created to control the apparatus using MATLAB-Simulink. These control schemes are designed to make the Twin-Rotor system go to predetermined points and follow periodical input signals. The task of designing the control schemes requires the author to work on state-space configuration, linearization and experimental works. Mathematical approximation is also applied to get the approximated polynomials for variables relationship. The controllers designed work successfully and make ways for the design of similar controllers using for other MIMO system