“…There are many studies about different types of linear and nonlinear techniques implemented on quadrotors such as PID (Naidoo et al , 2011; Pounds et al , 2010; Salih et al , 2010), fuzzy controller (Zare et al , 2014; Zemalache and Maaref, 2009), nonlinear H ∞ controller (Raffo et al , 2010; Schafroth et al , 2010), linear quadratic regulator (LQR) controller (Kumar et al , 2008; Ozgur Doruk, 2009), linear quadratic gaussian (LQG) controller (Oktay, 2014; Reza Dharmayanda et al , 2010) and adaptive controller (Nicol et al , 2011).…”