<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-04490161</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-17T04:06:17+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">A Preliminary Parametric Analysis of PID Delay-Based Controllers for Quadrotor UAVs</title>
            <author role="aut">
              <persName>
                <forename type="first">Jose</forename>
                <surname>Castillo-Zamora</surname>
              </persName>
              <idno type="halauthorid">3076141-0</idno>
              <affiliation ref="#struct-225207"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jose</forename>
                <surname>Hernandez-Diez</surname>
              </persName>
              <idno type="halauthorid">3076142-0</idno>
              <affiliation ref="#struct-551354"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Islam</forename>
                <surname>Boussaada</surname>
              </persName>
              <email type="md5">dd756b5e424f3b6b9c8a54c62db2e3e3</email>
              <email type="domain">gmail.com</email>
              <ptr type="url" target="http://www.l2s.supelec.fr/perso/boussaada"/>
              <idno type="idhal" notation="string">islam-boussaada</idno>
              <idno type="idhal" notation="numeric">16516</idno>
              <idno type="halauthorid" notation="string">17098-16516</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-7020-6395</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.nl/citations?hl=en&amp;user=Q393SpUAAAAJ</idno>
              <idno type="IDREF">https://www.idref.fr/15002844X</idno>
              <affiliation ref="#struct-1051117"/>
              <affiliation ref="#struct-1051186"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Juan</forename>
                <surname>Escareno</surname>
              </persName>
              <email type="md5">405abe3af04d8fc9a4182c3b92b1d64b</email>
              <email type="domain">xlim.fr</email>
              <idno type="idhal" notation="numeric">1355683</idno>
              <idno type="halauthorid" notation="string">438221-1355683</idno>
              <idno type="IDREF">https://www.idref.fr/144821338</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-4706-7117</idno>
              <idno type="ISNI">http://isni.org/isni/0000000357682412</idno>
              <idno type="VIAF">https://viaf.org/viaf/199077926</idno>
              <affiliation ref="#struct-1192734"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Jonatan</forename>
                <surname>Alvarez-Munoz</surname>
              </persName>
              <email type="md5">dfd547367457136a9a2a288fd1ccb525</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="string">jonatan-alvarez-munoz</idno>
              <idno type="idhal" notation="numeric">1161558</idno>
              <idno type="halauthorid" notation="string">1380225-1161558</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-1038-6800</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=-UExKy0AAAAJ</idno>
              <idno type="IDREF">https://www.idref.fr/225419785</idno>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Myriam</forename>
                <surname>Baverel</surname>
              </persName>
              <email type="md5">80843f819beb237a1a0e91d625a14b36</email>
              <email type="domain">lss.supelec.fr</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2024-03-05 13:05:53</date>
              <date type="whenModified">2026-02-25 07:40:16</date>
              <date type="whenReleased">2024-03-05 13:05:53</date>
              <date type="whenProduced">2021-06-15</date>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="120779">
                <persName>
                  <forename>Myriam</forename>
                  <surname>Baverel</surname>
                </persName>
                <email type="md5">80843f819beb237a1a0e91d625a14b36</email>
                <email type="domain">lss.supelec.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-04490161</idno>
            <idno type="halUri">https://centralesupelec.hal.science/hal-04490161</idno>
            <idno type="halBibtex">castillozamora:hal-04490161</idno>
            <idno type="halRefHtml">&lt;i&gt;2021 International Conference on Unmanned Aircraft Systems (ICUAS)&lt;/i&gt;, Jun 2021, Athens, Greece. pp.28-37, &lt;a target="_blank" href="https://dx.doi.org/10.1109/ICUAS51884.2021.9476821"&gt;&amp;#x27E8;10.1109/ICUAS51884.2021.9476821&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">2021 International Conference on Unmanned Aircraft Systems (ICUAS), Jun 2021, Athens, Greece. pp.28-37, &amp;#x27E8;10.1109/ICUAS51884.2021.9476821&amp;#x27E9;</idno>
            <availability status="restricted"/>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNILIM">Université de Limoges</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="INRIA">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="INRIA-SACLAY" corresp="INRIA">INRIA Saclay - Ile de France</idno>
            <idno type="stamp" n="SUP_LSS">Laboratoire des Signaux et Systèmes</idno>
            <idno type="stamp" n="XLIM" corresp="UNILIM">XLIM</idno>
            <idno type="stamp" n="INRIA_TEST">INRIA - Institut National de Recherche en Informatique et en Automatique</idno>
            <idno type="stamp" n="SUP_SYSTEMES" corresp="SUP_LSS">Pôle Systèmes</idno>
            <idno type="stamp" n="TESTALAIN1">TESTALAIN1</idno>
            <idno type="stamp" n="CENTRALESUPELEC">Ecole CentraleSupélec</idno>
            <idno type="stamp" n="INRIA2">INRIA 2</idno>
            <idno type="stamp" n="UNIV-PARIS-SACLAY">Université Paris-Saclay</idno>
            <idno type="stamp" n="UNIVERSITE-PARIS-SACLAY" corresp="UNIV-PARIS-SACLAY">Université Paris-Saclay</idno>
            <idno type="stamp" n="GS-COMPUTER-SCIENCE">Graduate School Computer Science</idno>
            <idno type="stamp" n="GS-SPORT-HUMAN-MOVEMENT">Graduate School Sport, Mouvement, Facteurs Humains</idno>
            <idno type="stamp" n="DISCO-L2S">Dynamical Interconnected Systems in COmplex Environments</idno>
            <idno type="stamp" n="IPSA">IPSA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="invited" n="0">No</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
            <note type="proceedings" n="0">No</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">A Preliminary Parametric Analysis of PID Delay-Based Controllers for Quadrotor UAVs</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Jose</forename>
                    <surname>Castillo-Zamora</surname>
                  </persName>
                  <idno type="halauthorid">3076141-0</idno>
                  <affiliation ref="#struct-225207"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jose</forename>
                    <surname>Hernandez-Diez</surname>
                  </persName>
                  <idno type="halauthorid">3076142-0</idno>
                  <affiliation ref="#struct-551354"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Islam</forename>
                    <surname>Boussaada</surname>
                  </persName>
                  <email type="md5">dd756b5e424f3b6b9c8a54c62db2e3e3</email>
                  <email type="domain">gmail.com</email>
                  <ptr type="url" target="http://www.l2s.supelec.fr/perso/boussaada"/>
                  <idno type="idhal" notation="string">islam-boussaada</idno>
                  <idno type="idhal" notation="numeric">16516</idno>
                  <idno type="halauthorid" notation="string">17098-16516</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-7020-6395</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.nl/citations?hl=en&amp;user=Q393SpUAAAAJ</idno>
                  <idno type="IDREF">https://www.idref.fr/15002844X</idno>
                  <affiliation ref="#struct-1051117"/>
                  <affiliation ref="#struct-1051186"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Juan</forename>
                    <surname>Escareno</surname>
                  </persName>
                  <email type="md5">405abe3af04d8fc9a4182c3b92b1d64b</email>
                  <email type="domain">xlim.fr</email>
                  <idno type="idhal" notation="numeric">1355683</idno>
                  <idno type="halauthorid" notation="string">438221-1355683</idno>
                  <idno type="IDREF">https://www.idref.fr/144821338</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-4706-7117</idno>
                  <idno type="ISNI">http://isni.org/isni/0000000357682412</idno>
                  <idno type="VIAF">https://viaf.org/viaf/199077926</idno>
                  <affiliation ref="#struct-1192734"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Jonatan</forename>
                    <surname>Alvarez-Munoz</surname>
                  </persName>
                  <email type="md5">dfd547367457136a9a2a288fd1ccb525</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="string">jonatan-alvarez-munoz</idno>
                  <idno type="idhal" notation="numeric">1161558</idno>
                  <idno type="halauthorid" notation="string">1380225-1161558</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-1038-6800</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=-UExKy0AAAAJ</idno>
                  <idno type="IDREF">https://www.idref.fr/225419785</idno>
                </author>
              </analytic>
              <monogr>
                <meeting>
                  <title>2021 International Conference on Unmanned Aircraft Systems (ICUAS)</title>
                  <date type="start">2021-06-15</date>
                  <date type="end">2021-06-18</date>
                  <settlement>Athens</settlement>
                  <country key="GR">Greece</country>
                </meeting>
                <imprint>
                  <publisher>IEEE</publisher>
                  <biblScope unit="pp">28-37</biblScope>
                </imprint>
              </monogr>
              <idno type="doi">10.1109/ICUAS51884.2021.9476821</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="nlin">Nonlinear Sciences [physics]</classCode>
              <classCode scheme="halTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halOldTypology" n="COMM">Conference papers</classCode>
              <classCode scheme="halTreeTypology" n="COMM">Conference papers</classCode>
            </textClass>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="institution" xml:id="struct-225207" status="VALID">
          <idno type="ROR">https://ror.org/050r7zc91</idno>
          <orgName>Institut Polytechnique des Sciences Avancées</orgName>
          <orgName type="acronym">IPSA</orgName>
          <desc>
            <address>
              <addrLine>5-9 rue Maurice Grandcoing 94200 Ivry-sur-Seine</addrLine>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-551354" status="VALID">
          <orgName>Autonomous University of San Luis Potosí</orgName>
          <orgName type="acronym">UASLP</orgName>
          <desc>
            <address>
              <addrLine>Álvaro Obregón #64, Col. Centro, C.P. 78000San Luis Potosí, S.L.P. México</addrLine>
              <country key="MX"/>
            </address>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-1051117" status="VALID">
          <idno type="IdRef">133818799</idno>
          <idno type="RNSR">199812842X</idno>
          <idno type="ROR">https://ror.org/00skw9v43</idno>
          <orgName>Laboratoire des signaux et systèmes</orgName>
          <orgName type="acronym">L2S</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>Plateau de Moulon 3 rue Joliot Curie 91192 GIF SUR YVETTE CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.l2s.centralesupelec.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-411575" type="direct"/>
            <relation active="#struct-419361" type="direct"/>
            <relation name="UMR8506" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-1051186" status="VALID">
          <idno type="RNSR">201020959T</idno>
          <idno type="ROR">https://ror.org/030627c87</idno>
          <orgName>Dynamical Interconnected Systems in COmplex Environments</orgName>
          <orgName type="acronym">DISCO</orgName>
          <date type="start">2020-01-01</date>
          <date type="end">2028-05-31</date>
          <desc>
            <address>
              <addrLine>CentraleSupelec 3 rue Joliot-Curie 91192 Gif-sur-Yvette cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/equipes/disco</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1051117" type="direct"/>
            <relation active="#struct-411575" type="indirect"/>
            <relation active="#struct-419361" type="indirect"/>
            <relation name="UMR8506" active="#struct-441569" type="indirect"/>
            <relation active="#struct-1225627" type="direct"/>
            <relation active="#struct-118511" type="indirect"/>
            <relation active="#struct-300009" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-1192734" status="VALID">
          <idno type="IdRef">128007052</idno>
          <idno type="ISNI">0000000405977726</idno>
          <idno type="RNSR">201220195D</idno>
          <idno type="ROR">https://ror.org/00f7srh09</idno>
          <idno type="Wikidata">https://www.wikidata.org/wiki/Q30261539</idno>
          <orgName>XLIM</orgName>
          <orgName type="acronym">XLIM</orgName>
          <date type="start">2022-01-01</date>
          <desc>
            <address>
              <addrLine>123 Avenue Albert Thomas 87060 Limoges Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.xlim.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-5928" type="direct"/>
            <relation name="UMR7252" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-411575" status="VALID">
          <idno type="IdRef">184443237</idno>
          <idno type="ROR">https://ror.org/019tcpt25</idno>
          <orgName>CentraleSupélec</orgName>
          <desc>
            <address>
              <addrLine>3, rue Joliot Curie,Plateau de Moulon,91192 GIF-SUR-YVETTE Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.centralesupelec.fr</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-419361" status="VALID">
          <idno type="IdRef">241345251</idno>
          <idno type="ROR">https://ror.org/03xjwb503</idno>
          <orgName>Université Paris-Saclay</orgName>
          <desc>
            <address>
              <addrLine>Bâtiment Bréguet, 3 Rue Joliot Curie 2e ét, 91190 Gif-sur-Yvette</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.universite-paris-saclay.fr/fr</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="department" xml:id="struct-1225627" status="VALID">
          <idno type="ROR">https://ror.org/040753f36</idno>
          <orgName>Centre Inria de l'Université Paris-Saclay</orgName>
          <date type="start">2022-11-01</date>
          <desc>
            <address>
              <addrLine>9 Rue Joliot Curie, 91190 Gif-sur-Yvette</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-118511" type="direct"/>
            <relation active="#struct-300009" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-118511" status="VALID">
          <idno type="RNSR">200818248E</idno>
          <idno type="ROR">https://ror.org/0315e5x55</idno>
          <orgName>Centre Inria de Saclay</orgName>
          <desc>
            <address>
              <addrLine>1 rue Honoré d'Estienne d'OrvesBâtiment Alan TuringCampus de l'École Polytechnique91120 Palaiseau</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/centre/saclay</ref>
          </desc>
          <listRelation>
            <relation active="#struct-300009" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-300009" status="VALID">
          <idno type="ROR">https://ror.org/02kvxyf05</idno>
          <orgName>Institut National de Recherche en Informatique et en Automatique</orgName>
          <orgName type="acronym">Inria</orgName>
          <desc>
            <address>
              <addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.inria.fr/en/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-5928" status="VALID">
          <idno type="IdRef">026403315</idno>
          <idno type="ISNI">0000000121654861</idno>
          <idno type="ROR">https://ror.org/02cp04407</idno>
          <orgName>Université de Limoges</orgName>
          <orgName type="acronym">UNILIM</orgName>
          <date type="start">1968-10-01</date>
          <desc>
            <address>
              <addrLine>33 rue François Mitterrand BP23204 87032 Limoges</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.unilim.fr</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>