Control Systems & Embedded

PID-Controlled Drone Platform — Attitude Regulation & Test-Rig-Driven Tuning

A PID-controlled drone platform built and tuned for stable attitude regulation under actuator saturation and disturbance inputs — with a dedicated tuning stand designed to make the process measurable and safe: isolating axes, validating sign conventions, and capturing clean step responses for iterative gain tuning, rather than tuning by crash.

Embedded C/C++ (flight control) · IMU sensor filtering · MATLAB (transfer-function & closed-loop stability analysis) · custom single-axis tuning stand / test rig

Control Systems Skills

Applied frequency- and time-domain methods (transfer functions, Laplace-domain modelling, closed-loop stability analysis) to predict system behaviour before flight, then verified against measured step responses.
Refined the controller through root-locus / Bode intuition and gain/phase-margin reasoning, with practical compensations layered in: derivative filtering, anti-windup, and setpoint ramping.
Handled the discrete-time realities of an embedded controller — sampling effects, sensor filtering, and robust tuning for repeatable behaviour across operating conditions.