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A Suitable Structure to Control the System of Quad-rotor Mi..:

Bui, Van-Dai ; Nguyen, Trong-Thang ; Than, Ngoc-Hoan.
International Journal of Power Electronics and Drive Systems (IJPEDS).  9 (2018)  4 - p. 1634 , 2018
Link: https://doi.org/10.11591/ijpeds.v9.i4.pp1634-1643