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Tomo8281

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I have a small project coming up, based around modeling (and perhaps building) a small Micro UAV system. Its a small device with contra-rotating blades (for stability), and I want to perhaps model the control system using simulink but I really don't know where to start! The aim is for the system to be able to hover and stabilise itself. I've used Matlab a lot in the last 4 years, and simulink a couple of times, but I need a bit of pointing out what to start with and how to go about doing this.

Can anyone point me in the right direction? I've spent the past 3 weeks trying to find a starting point but I'm a bit stumped.

Thanks