Özbaltan M.Çaşka S.2024-07-222024-07-2220242195268Xhttp://akademikarsiv.cbu.edu.tr:4000/handle/123456789/11390In recent years, quadcopter UAVs have been extensively utilized. Controlling quadcopters is a major concern, and researchers are actively studying it. In this study, altitude control of a quadcopter UAV is achieved using the symbolic limited optimal discrete controller synthesis technique. The resulting controller is compared with the adaptive PID control method, where the PID controller’s parameters are determined using the Dragonfly algorithm. The findings show the superior performance of our approach. © The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023.EnglishControllersElectric control equipmentProportional control systemsScattering parametersThree term control systemsAdaptive PIDControl methodsDiscrete ControlDiscrete controller synthesisDragonfly algorithmPID controllersQuadcopterS -parametersSymbolic limited optimal discrete controlSynthesis techniquesAltitude controlArticle10.1007/s40435-023-01278-3