Notebooks

Altitude Control of a Quadcopter

  • Basics - StateSpace

    • Demonstrates how to create StateSpace controller, and how to design a control loop with the API

    • The importance of the modelling parameter is indicated along with possibly scenarios

    • See how ADRC rejects disturbances.

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  • Closed-loop dynamics

    • Examines how controller and observer poles are placed using bandwidth parametrization

    • The effects of noise are investigated.

    • Half-gain tuning is introduced.

  • Magnitude and rate limiters

    • Limiters and their significance for practical implementation are discussed.