D. , Second layer of the quadrotor model

, Configurable mask for the quadrotor model

, The Matlab code routine to compute the PID-structured gain is

, % Linearization of the nonlinear Simulink model in a given operating point 2 [aa,bb,cc,dd]=linmodv5

, %phi theta psi z p q r zdot -Up Uq Ur Uz ... uwx uwy uwz 7 ccc=cc, 2007.

, %phi theta psi z p q r zdot -Up Uq Ur Uz ... uwx uwy uwz, 2007.

, Creating the Plant from the Hinf design Simulink model 11

, P=ss(a_m,b_m,c_m,d_m)

(. Cl0=lft,

, % unweighted closed-loop

. Clw=blkdiag, , vol.3

, K=ss(CL.Blocks, vol.0

, % Structured-PID gain for the given operating point

, 6 shows the Simulink model (Hin f _design_alt_att.slx) for the H 1 design, Fig. C.7 shows the Simulink model for the closed-loop model

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