Design of Flight Control System for a Novel Tilt-Rotor UAV

Table 3

The control gains of the four channels.

	Gains	Vertical channel	Pitch channel	Roll channel	Yaw channel
RSLQR		2.2403	8.9443	8.3666	2.2361
		−0.8412	−0.7749	−0.8060	−0.8349
PI		0.013	0.353	0.304	0.011
		0.865	4.612	4.288	0.809