In this paper, we present a single input-single output (SISO) model – 1-DOF drone. This model is simple but difficult to be controlled due to its nonlinear characteristic. We also present a self-made hardware platform for this model in laboratory. Thence, classical PID control is examined on both simulation and experiment. This algorithm is proved to work well. Thence, this model is a nonlinear SISO solution for classical training model for laboratory.
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Tran et al. (2024) studied this question.
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