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Experimental approach to Pole Placement problem of State Feedback Control for Quadrotor Stabilization in Hovering Mode

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Figure

Fig. 1. Block scheme of the state feedback
Fig. 2. Roll (phi), pitch (theta), yaw (psi) angles in the upper graph. Lifting force (u1, u2, u3, u4)
Fig. 4.Lifting force vs duty cycle of PWM relation
Fig. 5a. Experimental results with p= [-6 -5 -4 -3 -2 -1]
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