This paper describes the architecture of a quadrotor and its linearized dynamic model. The attitude of the quadrotor in the model state-space variables can be calculated with rotational matrix formed from quaternions instead of finite small angular displacement approximation. Based on H continuous time control method, a state feedback controller is designed to control the translational position and heading of the quadrotor. IEEE J c J c J c J c J l J l J l J l T T J c J c J c J c J l J l J l J l c J c J c J l J l J l J l

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