Design of a Model-Following PID Control System for an MAV

This paper proposes a design method of a model-following PID controller which is an extension of the design method of a proportional and derivative preceded integral (I-PD) controller based on integral-type optimal servomechanism (IOS) and the ν-gap metric. This original method is simple, compared with conventional ones and consists of two stages. First, a given high-order plant is reduced to a second-order system in terms of the ν-gap metric, and next, the state feedback gains of the IOS for the second-order system are computed to obtain PID control gains. The I-PD controller is extended to a model-following type by adding a reference model and a feedforward compensator for a desirable output response. This design method has been applied to Mini Aerial Vehicle (MAV) flight controllers to demonstrate that the proposed design method has sufficient effectiveness.