How can I tune PID with this structure ?
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Hello.
Now, I'm modeling Quad Copter on Simulink.
Quad Copter has 12 state as a output.
and 4 Input and therefore, Controller also exist 4 controllers include Phi, Theta, Psi, Altitude.
But, Still I can't find a solution to find a best gain for this PID controllers.
I can't use PID tunner because it is not PID block that Matlab provide in simulink.
and "Check Step Response Characteristic" also not working.
How can I tune this PID controllers ?
![pid.PNG](https://www.mathworks.com/matlabcentral/answers/uploaded_files/243751/pid.png)
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