A PID-controlled quadcopter system: The effect of parameters selection

This report presents the effect of the parameters in a control structure based on PI-D and P-D, used in the control of positioning and stabilization of a drone, based on a non-linear model for the system. The proportional, integral and derivative gains corresponding to each controller are modified and their behavior is analyzed. A brief analysis on ITAE performance is held on $x$ and $y$ control loops, providing an initial insight on the optimally of the model regarding reference tracking. The effect of parameters such as overshoot, stabilization time and steady-stade error is concluded by varying the gains for the different controllers.