Final answer:
The question asks for the departure and arrival angles at the complex poles and zeros of a helicopter's transfer function using control theory principles, but the examples provided refer to helicopter motion in terms of force, energy, and air resistance.
Step-by-step explanation:
The question pertains to the calculation of departure and arrival angles at the complex poles and zeros of a given transfer function that represents the longitudinal motion of a helicopter near hover. The transfer function provided is G(s) = 9.8 (s² - 0.5s + 6.3) / (s + 0.66) (s² - 0.24s + 0.15) and the characteristic equation is 1 + D(s)G(s) = 0, with the assumption that D(s) = kp, where kp is a proportional gain.
To compute the departure and arrival angles, one typically uses techniques from control theory, such as the angle criterion, which involve drawing vectors from the poles/zeros to the complex poles and zeros and summing up the angles made by these vectors with the positive real axis.
The examples provided, however, seem to focus on the physics of helicopter motion, specifically on force, energy, and air resistance, rather than the control theory aspect. This suggests a misunderstanding, as they do not directly address the question posed about transfer functions and control systems.