The present work applies the Reinforcement Learning TD3 technique to tune PID family controllers applied to a non-linear dynamic system of a twin-engine Tiltrotor aerial platform with homogeneous and non-homogeneous propulsion systems. Inhomogeneity refers to the situation in which the propulsion engines together with their propellers do not behave identically. The purpose of control design is to stabilize the system attitude and perform altitude control.
