Quadrotor model with proportional derivative controller

To design an automatic controller of a tracking system usually can be built by analyzing response output system. However in many cases especially in complex dynamics system for example quadrotor controller, it is not trivial to end this. Control design for quadrotor can be done by modeling the dynamics system. When dynamics system can be modeled close to real system characteristics, then accurate analysis and system modification will be obtained easily. The work proposed quaternion method to model the quadrotor attitude. The simulation shows the effectiveness method for proportional derivative controller design to the model.