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

Table 3

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

Poles	Zeros	Transfer function obtained	Accuracy
4	4		92.65%
3	3		89.38%
5	3		84.81%
3	2		82.2%
5	2		76.73%
3	1		73.46%