Guaranteed performance PID controller for UAV pitch control

In this paper, a guaranteed performance PID controller is proposed for the pitch control problem of an UAV. Using the loci for the stated performance criteria, the PID controller zeros are suitably selected as a pair of conjugate poles for the desired system in the specified zone of the s-plane. These poles are rendered non-dominant in order to avert the adverse effects of pole-zero cancellation. This method is proposed as an alternative to the guaranteed dominant pole placement method proposed by Wang et al., in which dominant poles are selected using the critical damping ratio and natural frequency. Simulation results and comparative assessment of the system performances using the designed controller, the guaranteed dominant pole placement controller and LQR validate the efficacy of the proposed controller.