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![PDF] Pitch and Roll control of a Quadcopter using Cascade Iterative Feedback Tuning | Semantic Scholar](https://d3i71xaburhd42.cloudfront.net/4c4958b738fa226c2757dfa5bf97d80309c677cb/2-Figure1-1.png "PDF] Pitch and Roll control of a Quadcopter using Cascade Iterative Feedback Tuning | Semantic Scholar")