Step Response Identification of a Quadcopter UAV Using Frequency-sampling Filters

This paper presents an approach to identify a quadcopter's closed-loop step response for evaluation of control performance. The first step in the proposed approach is data acquisition using a relay feedback experiment and the second step is step response estimation using frequency sampling filters. The proposed approach provides engineers with an intuitive way to more preciously evaluate the designed controllers and to obtain better controller tuning parameters. To validate this approach, experiments are conducted on a quadcopter test-bed and comparisons are made between the estimated step response and the step response from testing.