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Model estimation is an important step in quadrotorcontrol design because model uncertainties can cause unstablebehavior especially with non-robust control methods. In thispaper, a modeling approach of a quadrotor prototype has beenproposed. First an initial dynamic model of quadrotor UAVbased on Euler-Lagrange formalism was developed. Then theroll system has been estimated using closed loop identificationmethod and frequency domain analysis. An experimental testshas been performed for the roll system to validate the estimateddynamic model.

Modeling of Quadrotor Roll Loop using Frequency Identification Method