© 1996-2012 IEEE. A novel proportional-integral-derivative (PID)-type motion controller for a quadrotor is introduced in this paper. A rigorous analysis of the closed-loop system trajectories is provided, and gain tuning guidelines are discussed. Real-time experimental results consisting of the implementation of a PID-based scheme, a sliding-mode controller, and the new scheme are given. Gains are selected so that the three tested controllers present the same energy consumption. In order to assess the robustness of the controllers tested, experiments are carried out in the presence of disturbances in one of the actuators. Specifically, the disturbance consists in attenuating the force delivered. Better tracking accuracy is obtained with the introduced nonlinear PID-type algorithm.