Optimal H-infinity PID Model Reference Controller Design for Roll Control of a Tail-Sitter VTOL UAV

In this work, an optimal and robust controller based on consolidating the PID H-infinity approach with model reference control is proposed. The proposed intended to accomplish a satisfactory transient response by including model. A Tail-Sitter VTOL UAV system used show effectiveness of controller. dynamic formulated using Euler method. To optimize design procedure, Black Hole Optimization (BHO) method as new Calibration deviation between output will be minimized obtain required specifications. results indicate that very powerful in compensating parameters variations forcing asymptotically track