A cascade controller for linearized Quadrotor model

In this article we developed a sparse controller for Quadrotor. The controller is designed by applying pole placement method to the linearized Quadrotor model. We also introduced the use of post-filter and pre-filter to transform the state coordinate to decrease coupling between states. The proposed controller is implemented using simulink blocks. The controller is simulated to shows the ability of the controller to achieve desired altitude and ability to correct disturbance.