Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

Table 1

Quadrotor UAV model parameters.

Parameter	Value
	kgm^2
	kgm^2
	kgm^2
	0.3 m
	70 ms
	1
	0.7 kg
	9.8 m/s^2