J.-S. Park, S.-Y. Oh and H.-L. Choi, “Attitude and hovering control of quadrotor systems using pole placement method,” Journal of IKEEE, vol. 24, no. 1, pp. 106-119, 2020.DOI:10.7471/ikeee.2020.24.1.106

Y.-C. Um and H.-L. Choi, “Hovering control using y-sliding surface of quadrotor with uncertain time-varying mass and external disturbance,” The Transactions of the Korean Institute of Electrical Engineers, vol. 69, no. 10, pp. 1474-1483, 2020.DOI:10.5370/KIEE.2020.69.10.1474

H.-L. Choi and J.-T. Lim, “On robust position control of DC motors by ε-PID controller and its application to humanoid robot arms,” Proceedings of the 17th IFAC World Congress, no. 01, pp. 14449-14453, 2008.DOI:10.3182/20080706-5-KR-1001.1574

A. D. A. Soudeize, J.-S. Park and H.-L. Choi, “Analysis and design of -PID controller for a quadrotor in the frequency domain,” Journal of IKEEE, vol. 28, no. 3, pp. 253-260, 2024.DOI:10.7471/ikeee.2024.28.3.253

H.-S. Lee, J.-S. Park and H.-L. Choi, “Quadrotor altitude control with experimental data-based PID controller,” Journal of IKEEE, vol. 28, no. 2, pp. 14-22, 2024.DOI:10.7471/ikeee.2024.28.2.136

O. A. Somefun, K. Akingbade and F. Dahunsi, “The dilemma of PID tuning,” Annual Reviews in Control, vol. 52, pp. 65-74, 2021.DOI:10.1016/j.arcontrol.2021.05.002

J. Yoon, H. Moon and J. Doh, “Study on hovering stability of quadcopter system using enhanced PID control simulation,” Transactions of the Korean Society of Mechanical Engineers - A, vol. 46, no. 9, pp. 843-852, 2022.DOI:10.3795/KSME-A.2022.46.9.843

S.-J. Park, “PID self-tuning for steering position control of mobile robot,” Journal of Platform Technology, vol. 5, no. 4, pp. 55-67, 2017.

T. S. Park, M. S. Kim, J. H. Lee, N. W. Gon, Y. J. Park and P. G. Park, “PID controller gain tuning algorithm using reinforcement learning,” Proceedings of the Institute of Control, Robotics and Systems Conference, no. 6, pp. 689-690, 2021.

K. Khuwaja, I. C. Tarca, N.-u. Zaman Lighari and R. C. Tarca, “PID controller tuning optimization with genetic algorithms for a quadcopter,” Recent Innovations in Mechatronics, vol. 5, no. 1, 2018.DOI:10.17667/riim.2018.1/11

J.-S. Kim, G.-S. Jeong, J.-S. Park and H.-L. Choi, “Enhanced quadrotor altitude control by switching two lead-lag controllers,” Journal of IKEEE, vol. 29, no. 1, pp. 8-14, 2025.DOI:10.7471/ikeee.2025.29.1.8

H.-C. Park, C.-W. Kim and Y.-B. Kim, “Switching control system design for controlling winch and cart motion,” Journal of Power System Engineering, vol. 22, no. 2, pp. 67-74, 2018.DOI:10.9726/kspse.2018.22.2.067