The thesis of the student Abdullah Nahdim Mohsen, specializing in control engineering, included how to control, primarily, the quadcopter system, which is a difficult and challenging problem. PID controllers are often used to control the quadcopter, to represent the aircraft system. If the readings were taken from an external sensor, noise was placed on the output system with the ES_PID controller was used and a non-linear filter called UkF was used to remove the noise. Finally, a comparison was made for the results of the ES-PID controller with both the results of the PI-D controller and the results of the PSO-PID controller, and it showed the preference of the results for the proposed controller.

The discussion committee consisted of:-

- Prof. Dr. Nizar Hadi Abbas / the head.

- Prof. Dr. Shibli Ahmed Hamid / member.

- Lec. Dr. Taghreed Mohammad Mohammad / member.

- Prof. Dr. Safana Mudhier Raafat / Supervisor.