eng Science and Education Publishing Journal of Automation and Control 2372-3041 2017-12-11 5 2 60 63 10.12691/automation-5-2-6 AUTOMATION2017526 article Michal Kelemen 1 Ivan Virgala ivan.virgala@tuke.sk 1 Tomáš Lipták 1 Milan ?kurka 1 Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia The paper deals with investigation of position stability of quadrocopter in vertical axis. At first, dynamic model of quadrocopter is introduced. In the paper are derived relations for control error in steady state for PD and PID controller. Based on dynamic model the PID controller is designed by optimizing method. Using designed controller the quadrocopter stability in vertical axis was simulated in software Matlab. The results of the simulation are discussed in the conclusion. http://pubs.sciepub.com/automation/5/2/6/automation-5-2-6.pdf dynamic model modeling quadrocopter simulation