This study focused on developing a delivery quadcopter prototype using a Proportional, Integral, Derivative (PID) controller, designed based on the mathematical modeling of both linear and rotational kinematics and dynamics. Extensive research, including online resources, books, and articles, was conducted to support the study. Simulation results demonstrated promising performance, and the F7 controller successfully lifted the quadcopter off the ground and maintained altitude with minimal adjustments. However, hardware limitations, signal processing issues, and limited time for PID tuning led to differences between the simulation and real-world results, particularly in achieving a steady altitude. Further PID tuning is necessary for throttle, pitch, roll, and yaw to improve control precision and ensure smoother flight. To enhance the tuning process, a more powerful hardware board with real-time wireless communication and better integration with MATLAB/Simulink could be introduced, simplifying adjustments and increasing safety. Ultimately, this study aims to contribute to smart city development through innovative, sustainable solutions while opening new avenues for future research.