摘要：The paper deals with a PID controller design for a towercopter plant. Towercopter represents a laboratory model of an aerial vehicle with one degree of freedom. PID controller controls a height of the propeller above the floor. The required height is inserted by a user. The main goal was to create simulation model corresponding to the towercopter and design an appropriate controller, to verify the designed controller on real towercopter plant and to compare simulation with real results. The paper describes towercopter plant design, its hardware components, necessary hardware modifications, used software and the controller design procedure.
