This paper presents the design of a centralized controller via μ synthesis for an unmanned helicopter. It is well known that partitioned controllers for a helicopter are based on partitioned systems and usually are in multi-loop manner. When the system is subjected to internal and external disturbances, the tuning of such a control system is very difficult and time-consuming. In this work, the centralized μ-controller (i.e. the controller designed using the un-partitioned helicopter system) for velocity and heading rate control is designed while a substantial amount of sensor noises, external disturbances in the form of wind gusts and model uncertainties is taken into account. The controller is then tested in simulations and briefly compared with a variant of H8 controller.