In this paper, an automatic control system design based on Integral Squared Error (ISE) parameter optimization technique has been implemented on longitudinal flight dynamics of an UAV. It has been aimed to minimize the error function between the reference signal and the output of the plant. In the following parts, objective function has been defined with respect to error dynamics. An unconstrained optimization problem has been solved analytically by using necessary and sufficient conditions of optimality, optimum PID parameters have been obtained and implemented in control system dynamics.
Kamran Turkoglu, Ugur Ozdemir, Melike Nikbay, and Elbrous Jafarov. "PID Parameter Optimization of an UAV Longitudinal Flight Control System" International Journal of Mechanical, Industrial Science and Engineering (2008).