PID-LQR controllers for quad-rotor hovering mode

PID controller is the most common control method used in many industrial applications, and tuning of the PID gains is still an active research area despite the availability of different tuning methods in the literature. This paper aims to demonstrate a comparison between two different PID tuning methods which are based on full state feedback Linear Quadratic Regulator (LQR). The two PID tuning methods are implemented for hovering flying mode of quad-rotor model, other flying modes are comparable therefore they are omitted in this paper. The simulation tests were conducted using different PID configurations. The results show that the second method outperforms the first method in term of ease of application, performance and computational time.