Low-Cost Experimental Methodology for the Dynamic Model Approximation of Multirotor Actuators

Table 2

Transfer functions obtained for the PWM duty cycle to motor RPM speed. The accuracy of different poles and zeros configuration was tested.

Poles	Zeros	Transfer function obtained	Accuracy
2	2		95.6%
2	1		95.36%
4	3		94.47%
4	4		78.74%
3	0		70.84%
2	0		70.7%