Bachelor degree majoring in Physics Engineering, Engineering Faculty Telkom University, 5 February 2014, Design And Implementation Of PID Control System At Autonomous Take Off Quadcopter. Adviser Lecturer: Drs. Suwandi, M.Si as first Adviser Lecturer and Reza Fauzi Iskandar, S.Pd.,MT as second Adviser Lecturer. In this final project has been discussed about the stability of take off quadcopter. Quadcopter is the type of Unmanned Aerial Vehicle (UAV) that has four propellers. The stability is obtained by setting the angle of each axis using the PID. Control values is obtained by experiments using Ziegler Nichols methode. The experiment sistem aimed to find control values of Kp, Ki and Kd on each axis. The x-axis obtained the value of Kp = 4.5 and Kd = 2.6. The y-axis obtained the values of Kp = 4.45 and Kd = 2.6. The z-axis is obtained the value of Kp = 9 and Kd = 0.005. On the test altitude is obtained the value of Kp = 1.5, Ki = 0.3 and Kd = 0.05. The control value included into the system, to view the reponse of the system. On the x-axis acquired error of ± 5, y-axis acquired error ±6 and the high-altitude acquired error ± 5 cm.