中文说明：
看过很多无人机建模的文章，这篇是精华，建议有需要的多研究本文。
English Description：
has seen many articles on UAV modeling. This is the essence, and it is recommended that we should study this article in need.
Modeling and PID control law design of quadrotor UAV
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中文说明：
看过很多无人机建模的文章，这篇是精华，建议有需要的多研究本文。
English Description：
has seen many articles on UAV modeling. This is the essence, and it is recommended that we should study this article in need.
四旋翼无人机建模及其PID控制律设计.pdf