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This paper present the mathematical model of UAV type Quadrotor under the Newton-Euler formulation. A transfer function has been chosen which represents a brushless motor and its driver as one system. PID cascade control has been designed to solve the path tracking problem for quadrotor. The controller is evaluated in a 3D environment in simulink. Keyword: Cascade controller, PID controller, Quadrotor, UAV.

Modeling And Pid Cascade Control For Uav Type Quadrotor