In order to improve the success rate and safety of shipboard helicopter landing missions, a design method of attitude command attitude hold (ACAH) response type based on H∞ control algorithm is proposed. By analyzing the mission subject primitives of the carrier-based helicopter when landing on the ship and the U.S. helicopter flight quality specification ADS-33E, the control response of the longitudinal axis of the carrier-based helicopter during the hovering approach is selected as the ACAH response type. The robust H∞ controller is designed based on the H∞ mixed sensitivity method, and the anti-disturbance characteristics and ACAH control effect of the robust controller are verified through simulation analysis, and the flight quality is evaluated. The results show that the design has high anti-interference characteristics, the helicopter’s longitudinal control response is ACAH response type, and the flight quality reaches level 1.