design a flight controller for a small drone in matlab

main.m
% Define the state-space model of the drone dynamics
A = [0 1 0 0 0 0;
     0 0 0 0 0 0;
     0 0 0 1 0 0;
     0 0 0 0 0 0;
     0 0 0 0 0 1;
     0 0 0 0 0 0];

B = [0 0;
     1 0;
     0 0;
     0 1;
     0 0;
     0 0];

C = [1 0 0 0 0 0;
     0 0 1 0 0 0;
     0 0 0 0 1 0];

D = zeros(3,2);

sys = ss(A,B,C,D);

% Design a state feedback controller
Q = eye(6);  % State weighting matrix
R = eye(2);  % Control weighting matrix

[K,~,~] = lqr(A,B,Q,R);

% Design a state estimator
L = (place(A',C',[-10,-20,-30,-40,-50,-60]))';

% Closed loop system
Ac = A - B*K;
Bc = B;
Cc = C;
Dc = D;

sys_cl = ss(Ac,Bc,Cc,Dc);

% Simulation
t = 0:0.01:10;
u = zeros(2,length(t));  % Input vector
x0 = [0;0;0;0;0;0];  % Initial state
[y,t,x] = lsim(sys_cl,u,t,x0);

% Plotting
plot(t,y);
legend({'y1','y2','y3'});
xlabel('Time');
ylabel('Output');
title('Response of the drone to the control input');
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