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W. K. Ho, O. P. Gan, E. B Tay and E. L. Ang, “Performance and Gain and Phase Margins of Well-Known PID Tuning Formulas,” IEEE Transactions on Control System Technology, Vol. 4, No. 4, 1996, pp. 473-477. doi:10.1109/87.508897

has been cited by the following article:

• TITLE: Attitude Control of a Quadrotor with Optimized PID Controller

  AUTHORS: Hossein Bolandi, Mohammad Rezaei, Reza Mohsenipour, Hossein Nemati, S. M. Smailzadeh

  KEYWORDS: Modeling; Optimization; PID Control; Quadrotor

  JOURNAL NAME: Intelligent Control and Automation, Vol.4 No.3, August 9, 2013

  ABSTRACT: A new approach to control, stabilization and disturbance rejection of attitude subsystem of quadrotor is presented in this article. Analytical method is used to tune conventional structure of PID controller. SISO approach is implemented for control structure to achieve desired objectives. The performance of the designed control structure is evaluated through time domain factors such as overshoot, settling time and integral error index, and robustness. A comparison is done between designed controller and back-step controller applied to main model of quadrotor. The results of simulation show the effectiveness of designed control scheme.