In this work, a new pre-tuning multivariable PID (Proportional Integral Derivative)
controllers method for quadrotors is put forward. A procedure based on LQR/LQG (Linear Quadratic
Regulator/Gaussian) theory is proposed for attitude and altitude control, which suposes a considerable
simplification of the design problem due to only one pretuning parameter being used. With the aim to
analyze the performance and robustness of the proposed method, a non-linear mathematical model of
the DJI-F450 quadrotor is employed, where rotors dynamics, together with sensors drift/bias properties
and noise characteristics of low-cost commercial sensors typically used in this type of applications are
considered. In order to estimate the state vector and compensate bias/drift effects in the measures,
a combination of filtering and data fusion algorithms (Kalman filter and Madgwick algorithm for attitude
estimation) are proposed and implemented. Performance and robustness analysis of the control system
is carried out by employing numerical simulations, which take into account the presence of uncertainty
in the plant model and external disturbances. The obtained results show the proposed controller design
method for multivariable PID controller is robust with respect to: (a) parametric uncertainty in the plant
model, (b) disturbances acting at the plant input, (c) sensors measurement and estimation errors
