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This paper gives a novel formula (Copenhagen Limit) to calculate/estimate thedynamic state error of a system without a feedforward signal. Copenhagen Limitis in the form of a limit and finds the dynamic error in an analyticalsolution. It can be used to design the controller in a tracking controlproblem. A numerical example is displayed to illustrate the accuracy of theCopenhagen Limit. Besides, the controller of a UAV (quadrotor) is designedusing the Copenhagen Limit in a trajectory-tracking problem. The result of itis also demonstrated and analyzed.

A Novel Formula Calculating the Dynamic State Error and Its Application in UAV Tracking Control Problem