A new fast compensator design applied to a quadcopter

A new approach for control which takes into account the time response method applied to unstable invertible SISO plants (B control) [1] has been tested experimentally at McGill University [2], [3]. In the present work we apply this approach to a non-linear model of a quadcopter. Simulation results show that the B controller improves time and robustness performances when compared to H2 and H∞ controllers. Experimental results on a quadcopter based on PX4 technology compare the B controller to the manufacturer's PID controller. The B controller is found to improve performance results.