Abstract: In this paper,considering the variable rotating speed of gyroplane,the mathematical model of gyroplane is established.A new attitude control method with virtual reference feedback tuning method is presented based on input/output measurements in a linear setting,minimizing a control cost of the norm type by using a set of datas collected from the plant.No model identification of the plant is needed.As to the optimization problem in designing controllers process,an iterative separable least-squares identification method is proposed by means of the separable principle,which not only searches for the global optimum of the design criterion about the parameter vectors,but also reduce the possibility of convergence to a local minimum.Finally the model simulation is provided to demonstrate the effectiveness of the proposed approach.