Hello, MATLAB users.
I am using 2014a version Matlab.
I have build quadcopter linear dynamics model include state-space model of 4 motors.
input is 4. attitude phi theta psi, position z. therefore, PID also 4 and I have used PID block that simulink provide.
output is 6. attitude phi theta psi and position xyz.
but, PID tuner always give unstable response that gain not working or show the message that plant cannot be linearized.
Dynamics's equations is totally fine. there have no any errors.
If, I try re-linearize close loop, result is as follow. please, see the attached screenshot.
in this case, how could I get the good stable gains of PID contorollers ?
Could you provide some similar situation or experience, docs for me ?
Best Answer