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Robust attitude control design for a low-cost hexarotor mic..:

Derawi, Dafizal ; Salim, Nurul Dayana ; Zamzuri, Hairi..
Transactions of the Institute of Measurement and Control.  38 (2016)  6 - p. 701-721 , 2016
Link: https://doi.org/10.1177/0142331215625768