Control of Drone using Root Locus / Siso Tool Consider a quadcopter whose height about the ground is measured using altimeter. When hovering the motors are maintained at constant rate, such that thrust force balances the gravity acting on the quadcopter. Take F(t) to be amount of addition thrust, need to make changes in height. The quadcopter weights 750 grams, and has air resistance proportional to 0.3 of its velocity. For each of the four motors, the transfer function between voltage / thrust is given by 0.4. Use the information given to write down the differential equation for the quadcopter, for movement in the vertical direction, and hence the transfer function for f(t) and h(t). Plot the unit step response of the quadcopter, for the first 15 seconds. (use the matlab command step). The quadcopter is fitted with an altimeter that measures the height about the ground. 1. Sketch a diagram of the close looped system for the speed control in order to maintain height at a set point, and write down the closed loop transfer function. 2. Plot the system response. 3. Find the feedback gain that results in a step response that less than 2% overshoot, and note down the rise time. Provide plot and state the gain. a. Design a simple controller such that the step response of 2% overshoot is obtained. Note down the rise time, pole positions, and the feedback gain. 4. Plot the final step response. Your write-up should include plots/screen shots from matlab and / or sisotool.