This paper explains how the method of system identification can be applied to a quadrotor helicopter. First the first principles model is studied. The open-loop model is an unstable system, which is simulated using a closed-loop scheme. Then, a 12th order Auto Regressive Moving Average with eXogenous inputs (ARMAX) model is obtained based on the simulation data.
['Ruud Schreurs', 'S Siep Weiland', 'Haibin Tao', 'Qi Zhang', 'Zhu Jh', 'Zhu Y', 'C. Xu']
Open loop system identification for a quadrotor helicopter system