Model-Based Design, HIL Testing, and Rapid Control Prototyping of a Low-Cost POC Quadcopter with Stability Analysis and Control

Table 1

List of abbreviations.

Abbreviations	Description
EFR	Earth frame reference
BFR	Body frame reference
IMU	Inertial measurement unit
MIMO	Multiple input multiple output
LQR	Linear quadratic regulator
SIL	Software in the loop
COG	Center of gravity
MBD	Model based design
HIL	Hardware in the loop
RCP	Rapid control prototyping
ESC	Electronic speed controller
BLDC	Brushless DC motor
PPM	Pulse position modulation