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SCE-575 // ATTITUDE CTRL SIM
QUADCOPTER ATTITUDE CONTROL SIMULATOR3-DOF LINEARISED HOVER DYNAMICS — CASCADE PID vs LQR
φ (roll)3.00°
θ (pitch)3.00°
ψ (yaw)5.00°
T8.51s
21:21:42 UTC
INERTIA PARAMS
Ix = Iy = 1.40×10⁻⁵ kg·m²
Iz = 2.734×10⁻⁵ kg·m²
LEGEND
Cascade PID
LQR
Reference
ROLL STEP RESPONSEREF = 3.00°
0246810Time (s)-0.51.54.1
  • Reference
  • Cascade PID
  • LQR
ROLL METRICS
PIDLQR
Rise Time0.500 s2.305 s
Settle Time0.825 s3.905 s
Overshoot0.24 %0.00 %
SS Error0.0067 °0.0004 °