This thesis first uses a model-based systems engineering approach to model, design, and implement a quadcopter test environment and research platform (TERP). TERP provides quadcopter state information, using a motion capture system, which can be used with custom feedback strategies to enable controlled flight.

Next, it makes use of control theory to develop two controllers for quadcopter flight trajectory tracking: one based on linear quadratic regulation (LQR) and one based on model reference adaption. Simulations of both controllers are done in MATLAB using Simulink and seek to demonstrate the improved performance of the adaptive controller over the LQR controller in flight trajectory tracking with payload uncertainties. Flight tests with the LQR controller are then done to validate the TERP System.