this Research Article is Copyright © 2016 Kaddouri Djamel et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. https://www.hindawi.com/journals/mpe/2016/8573235/

a hierarchical controller design based on nonlinear Hinfinity theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using a conventional quaternion based method .I already tried to implement this nonlinear diff equations in Matlab, but I did not find the same result in the published article so I'am searching for someone who can help me fix my mistakes.