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Internal Model Control Tuned Proportional Integral Derivative for Quadrotor Unmanned Aerial Vehicle Dynamic Model

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Figure

Figure  1  showed  that  the  model  of  a  quadrotor  UAV  comprises  four  input  forces  that  are  supplied  at  a  constant  angle  by  each  propeller  linked  with  each  rotor
Figure 2: IMC system block diagram representation (Earl and Andrea, 2004).
Figure 3: Process Reaction Curve (Ogata,2010)
Figure 5:System Behaviour over Short Time Interval(15sec)
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