Read any "control theory"[1] text, frequently used in undergraduate engineering courses. I hesitate to recommend the text from my undergraduate years, as it wa

Read any "control theory"[1] text, frequently used in undergraduate engineering courses. I hesitate to recommend the text from my undergraduate years, as it wasn't very good, and is probably dated by now. The inverted pendulum [2] is a canonical test in control engineering, frequently used to test feedback control algorithms. Consequently, it should be treated in most texts. A separate problem is the modelling and control of the quadcopter. I say separate, since the maths behind throwing an inverted pendulum should be similar, whether it is being thrown by quadcopters or industrial robots. The real (and more complex) story here is the quadcopter control algorithms. Using an inverted pendulum is a sexy way to show off the quadcopted control algorithms, compared to a dry graph of an error function. [1] https://en.wikipedia.org/wiki/Control_theory https://en.wikipedia.org/wiki/Control_theory [2] https://en.wikipedia.org/wiki/Inverted_pendulum https://en.wikipedia.org/wiki/Inverted_pendulum