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Generalized Homogenization of Linear Controllers: Theory and Experiment

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Academic year: 2021

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Figure

Figure 1: Comparison of ”overshoots” for linear (left) and homogeneous (right) controllers
Figure 2: Quadrotor coordinates and the horizon frame
Table 1: Quadrotor Model Parameters given by the manufacturer
Figure 4: Input L 2 norm of linear PID signal and Homogeneous PID signal
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