## 3 Methodology
### Genetic Algorithm
\begin{tabular}{c c c} \hline \hline
**Model Parameters** & \multicolumn{2}{c}{**Values**} \\ \hline Initial Conditions applied to state matrix & \([2;2;90;60;2;60;60;180]\) \\ \hline Measurement (Sensor) Noise & Gaussian Noise & Noise power: 0.05 \\  & & Sample frequency: 200 Hz \\ \hline  & Random Number & Mean: 0 \\ Process (Actuator) Noise & & Variance: 0.5 \\  & & Sampling frequency: 10 Hz \\ \hline Parameters for Manually Tuned & & Values \\ \hline Feedback gain Q & & \(\begin{bmatrix}0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ \end{bmatrix}\) \\ \hline Feedback gain R & & & \(\begin{bmatrix}0.01&0&0\\ 0&0.01&0\\ 0&0&0.01\\ 0&0&0.01\\ \end{bmatrix}\) & & & \\ \hline State Feedback Gain & \(\begin{bmatrix}0.001&0&2.170&69.595&0&-0.154&-13.638&10.375\\ 0&0&-0.364&-12.507&0.001&-0.911&-74.072&-59.003\\ 0&0&0&0&0.189&-0.003&1.826&119.697&-37.521\\ \hline  & & & & & \\ \end{bmatrix}\) & & \\ \hline Vd Matrix--Manually Tuned & & \(\begin{bmatrix}0.0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0.06&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0.06&0\\ 0&0&0&0&0&0&0&0.06\\ \end{bmatrix}\) \\ \hline Vn Matrix--Manually Tuned & & \(\begin{bmatrix}0.2&0&0\\ 0&0.2&0\\ 0&0&0.2\\ 0&0&0.2\\ \end{bmatrix}\) & & \(\begin{bmatrix}0.959&-1.887&-0.289\\ -0.133&0.273&0.145\\ 0.078&-0.042&-0.042\\ 1.776&-0.014&0.005\\ -0.752&5.649&7.882\\ -0.010&-0.084&-0.162\\ -0.014&1.684&0.037\\ 0.005&0.037&1.608\\ \end{bmatrix}\) \\ \hline \hline \end{tabular} \begin{tabular}{c c c c} \hline \hline
**Model Parameters** & \multicolumn{2}{c}{**Values**} \\ \hline Initial Conditions applied to state matrix & \([2;2;90;60;2;60;60;180]\) \\ \hline Measurement (Sensor) Noise & Gaussian Noise & Noise power: 0.05 \\  & & Sample frequency: 200 Hz \\ \hline  & Random Number & Mean: 0 \\ Process (Actuator) Noise & & Variance: 0.5 \\  & & Sampling frequency: 10 Hz \\ \hline Parameters for Manually Tuned & & Values \\ \hline Feedback gain Q & & \(\begin{bmatrix}0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0&0\\ 0&0&0&0&0&0&0&0&0&0\\ \end{bmatrix}\) \\ \hline \hline \end{tabular} 

## Appendix D Simulation Parameters for Linear Quadratic Gaussian \begin{tabular}{c c c c} \hline \hline
**Model Parameters** & \multicolumn{2}{c}{**Values**} \\ \hline Initial Conditions applied to state matrix & \([2;2;90;60;2;60;60;180]\) \\ \hline Measurement (Sensor) Noise & Gaussian Noise & Noise power: 0.05 \\  & & Sample frequency: 200 Hz \\ \hline  & Random Number & Mean: 0 \\ Process (Actuator) Noise & Variance: 0.5 \\  & Sampling frequency: 10 Hz \\ \hline Parameters for Manually Tuned & & Values \\ \hline Feedback gain Q & & \(\begin{bmatrix}0.01&0&0&0\\ 0&0.01&0\\ 0&0&0.01\\ 0&0&0.01\\ \end{bmatrix}\) & & & \\ Matrix--Manually Tuned & & & \(\begin{bmatrix}0.001&0&2.170&69.595&0&-0.154&-13.638&10.375\\ 0&0&-0.364&-12.507&0.001&-0.911&-74.072&-59.003\\ 0&0&0&0&0.189&-0.003&1.826&119.697&-37.521\\ \end{bmatrix}\) \\ \hline \hline \end{tabular} \begin{tabular}{c c c c c c} \hline \hline State Feedback Gain & \(\begin{bmatrix}0.001&0&2.170&69.595&0&-0.154&-13.638&10.375\\ 0&0&-0.364&-12.507&0.001&-0.911&-74.072&-59.003\\ 0&0&0&0&0.189&-0.003&1.826&119.697&-37.521\\ \end{bmatrix}\) \\ \hline \hline \end{tabular} 



_Appl. Sci._**2022**, _12_, _7677_

## Appendix E Controller Architectures

## References

* [1] Met Eireann. Storm Eunice to Bring Strong Winds Rain and Snow. 2022. Available online: [[https://www.met.ie/storm-eunice-to-bring-strong-winds-rain-and-snow](https://www.met.ie/storm-eunice-to-bring-strong-winds-rain-and-snow)]([https://www.met.ie/storm-eunice-to-bring-strong-winds-rain-and-snow](https://www.met.ie/storm-eunice-to-bring-strong-winds-rain-and-snow)) (accessed on 18 April 2022). * [2] DJI. DJI MATRICE 300 RTK--User Manual. 2020.