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This paper presents the mathematical modeling of a quadcopter. A modified PID control algorithm in Simulink is developed, observing the system's behavior in a virtual environment. PID controller is implemented in an embedded system. The quadcopter is attached to a test bench for submission to external forces. Finally, real test on outdoor scenarios have been made to validate the proposed PID controller.
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Paiva-Peredo et al. (2016) studied this question.