  In this paper, we model the planar motion of a quadcopter, and develop a
linear model of the same. We perform stability analysis of the open loop system
and develop a PD controller for its position control. We compare the closed
loop response between the linear and non linear systems using the controller
developed for the linear system. We also perform stability analysis for the
linear and non linear systems, and compare the PD controller with modern deep
neural methods based on reinforcement learning actor-critic networks.
