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![PDF] Sliding Modes based Nonlinear PID Controller for Quadrotor - Theory and Experiment | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/1457435d17dd340f07383870384d636e56e7afe7/5-Figure2-1.png "PDF] Sliding Modes based Nonlinear PID Controller for Quadrotor - Theory and Experiment | Semantic Scholar")
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