Fig. 7
System block diagrams: (a) outer-loop PID control for position; (b) inner-loop cascade PID control combined with NDO; and (c) model for simulation of quadcopter IGE dynamics

System block diagrams: (a) outer-loop PID control for position; (b) inner-loop cascade PID control combined with NDO; and (c) model for simulation of quadcopter IGE dynamics

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