A cascade controller for linearized Quadrotor model

In this article we developed a sparse controller for Quadrotor. The controller is designed by applying pole placement method to the linearized Quadrotor model. We also introduced the use of post-filter and pre-filter to transform the state coordinate to decrease coupling between states. The proposed controller is implemented using sim-ulink blocks. The controller is simulated to shows the ability of the controller to achieve desired altitude and ability to correct disturbance.