How to understand the controllers?

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x and y speed controller.

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x and y position controller.

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altitude controller, an m function.

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From those information on the controllers, we'd better improve the x and y position by fractional order controller (FOC) because they used Simulink blocks.

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Lets tune the x pos controller first, since it is on the top.
original param
PIDN
0.8, 0.2, 0, 100

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Let's identify the plant model. We should identify the model when it is stable. So I need to make a branch for system id.