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This paper explains how the method of system identification can be applied to a quadrotor helicopter. First the first principles model is studied. The open-loop model is an unstable system, which is simulated using a closed-loop scheme. Then, a 12th order Auto Regressive Moving Average with eXogenous inputs (ARMAX) model is obtained based on the simulation data.
Rosner et al. (Sat,) studied this question.