A new method of improved explicit-model-following (EMF), loop-shaping robust control system design is proposed for multi-variable control problem. The method uses EMFpsilas control structure, which includes explicit-model, inverse-model and feedback-control blocks; and uses Hinfin robust control idea, takes inverse-model as feedforward compensation block, designs feedback compensation block shaping plantpsilas singular plot, and designs Hinfin robust feedback control block. Then an attitude controller based on the improved method is designed for an example small-size unmanned helicopter in hover, and the method has good performance and robustness by simulation and robust test.