Hello everyone,

I am designing a flight control algorithm for a UAV. In the first step, I am just designing control just altitude using PID.

I gave an step input of 50 m after 10 s as the reference altitude.

Problem 1: when i ran the simulink model, the UAV is going high and high.

Problem 2: The altitude starts rising after 3 s, even though the reference signal is 0 for first 10 s.

I tried tuning PID with simulink tuning app and with ZN method, but not getting required output.

I am attaching my simulink model for reference.

i have selected motor and propeller from T motors. The website link and other required information are mentioned in the model.

Currently, I am interpolating rpm data from the available throttle and rpm data from the website.

correct me if i am wrong here, the output of PID control is PWM and 50% throttle setting can be assumed to be 50% of voltage supply?

Do i need a PWM block after PID control?

Thanks and regards,

Dhruvil Chavada