OICC Press Majlesi Journal of Electrical Engineering 2345-3796 10 4 2024 02 20 Mathematical Modeling and Designing PID Controller for a Quadrotor and Optimize its Step Response by Genetic Algorithm EN S. Mohammadali Zanjani Big Data Research Center, Najafabad Branch, Islamic Azad University, Najafabad, Iran. 0000-0001-5329-4899 Sayed Mohammad Kargar Islamic Azad University, Najafabad, Iran Sayed Mohammad Ali Zanjani Islamic Azad University, Najafabad, Iran Journal Article 2024 02 20 In order to analyze the mathematical modeling and PID controller performance of a quadrotor, this paper firstly, describes the quadrotor flight dynamics according to “Newton-Euler laws”, then equations of motion linearized and transfer functions for 6 degree of freedom obtained in state space domain. Classic PID controller based on “Ziegler-Nichols method” is designed and implemented on system. In order to have better performance, Genetic Algorithm based on step response optimization, is used to optimize PID controller performance and compared with classic method. Finally, step responses comparison for each transfer functions, showed that Genetic Algorithm with PID control synthesis presents better efficiency than the classic PID controller.