PD Control Quadrotor - Simulink

This file contains the simulink simulation of the PD control of a Quadrotor. Quadrotor model is take

This file contains the simulink simulation of the PD control of a Quadrotor. Quadrotor model is taken from Dr. Bouabdallah's PhD thesis found also in the file. The PD control is enough to control the quadrotor in disturbance free situations.
The “big” Omega I used in my model is actually “Gamma” found in the quadrotor dynamics. The controls can be calculated from the rotors’ speeds, so using the same equations reversely we can find the rotors’ speeds out of the controls (solve for the rotors’ speeds using the upper equations, 4 equations with 4 unknowns).
γ is the effect of rotor speeds on the system. In general there are no sensors put on the quadrotor to measure its rotors’ speeds, so we can’t calculate gamma in practical and it is assumed as disturbance. Gamma is calculated using the four rotors’ speeds as:
Gamma = omega1 - omega2 + omega3 - omega4 : The resultant effect of all the rotors.
What I did is calculating omegasquare of each rotor, used omegasquares to calculate gamma, then recalculate the controls.