A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters

Table 1

The ultimate values and initial values scope of PID parameters in GA parameter optimization.

The ultimate PID parameter values	2.2310	2.9996	0.1969
The initial value scopes of PID parameters	1.49344, 2.24016	2.97896, 4.46844	0.1872, 0.2808