The explicit model-following loop-shaping (EMFLS) control method is improved by using the loop-shaping control algorithm to compensate the uncertainty of inverse model. The weighting functions of the loop-shaping controller are difficult to choose. In accordance with this problem, the multi-objective genetic algorithm (MOGA) combined with niche elimination technique is used to search the optimal parameters of the weighting functions so that the efficiency and accuracy of the design are improved. The attitude control system of helicopter is designed based on the method proposed in this paper the results shows good dynamic performance and robustness.