This work presents a practical and structured introduction to quadcopter modelling and control using MATLAB, designed specifically for beginners in drone dynamics and control systems. The study adopts a progressive learning approach, starting with the fundamental concept of hover thrust estimation and extending to the simulation of vertical motion using numerical integration techniques. The dynamic response of the system is further explored through step and ramp variations in motor inputs, providing insight into transient behaviour.

Subsequently, closed-loop altitude control strategies are developed and analysed using proportional (P), proportional–derivative (PD), proportional–integral (PI), and proportional–integral–derivative (PID) controllers. The performance of each controller is evaluated under varying conditions, including external disturbances, to illustrate differences in stability, response time, and steady-state error. Emphasis is placed on interpreting key system variables such as altitude, velocity, acceleration, thrust, and control error through MATLAB-generated plots.

Unlike conventional approaches that introduce full nonlinear quadcopter models at an early stage, this work focuses on simplified vertical dynamics to enhance conceptual clarity and learning efficiency. The presented framework provides a strong foundation for extending to more advanced topics, including attitude control, three-dimensional modelling, trajectory tracking, and autonomous unmanned aerial vehicle (UAV) systems.

This resource is particularly suitable for students, early-stage researchers, and practitioners seeking a hands-on and intuitive understanding of UAV control using MATLAB.