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

Table 2

PID parameter values tuned by Ziegler-Nichols rules and GA.

Attitude	PID value
	PID parameter values tuned by Ziegler-Nichols rules			PID parameter values tuned by GA
	Roll angle	1.8668	3.7237	0.2340	2.2310	2.9996	0.1969
Pitch angle	1.8572	3.6941	0.2334	2.1756	3.0239	0.2022
Yaw angle	1.5064	3.0067	0.1887	1.8013	2.479	0.1528