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LQR controller design for quad-rotor helicopters.This paper presents an analysis and performance of a LQR control algorithm for quadrotor helicopters. For a successful analysis, first the dynamic model has been developed for the quadcopter and then the controller was designed, tuned and tested. In tuning the LQR, much attention was given to the feedback gain matrix (K). The controller’s performance wasverified in terms of delay time, rise time, overshoot, settling time and tolerance limits. The overall performance of theLQR controller was analysed.