I want to design a linear controller for a quadcopter which is 6dof nonlinear.

I have non-linear equations. But in order to design a linear controller, I need to find a linear state-space model of the vehicle.

I skimmed bunch of articles and thesis without any result. Most of them have some approximations for separate parts of the model to linearize.

I need the state-space as a form like below,

$$\dot{x}=Ax(t)+Bu(t)$$

I couldn't find the $A$ and $B$ matrices. I made the small angle and hover condition approximations so that equations become simpler yet they are still non-linear.

Non-simplified equations are as follow,

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I want to design a linear controller for a quadcopter which is 6dof nonlinear.

I have non-linear equations. But in order to design a linear controller, I need to find a linear state-space model of the vehicle.

I skimmed bunch of articles and thesis without any result. Most of them have some approximations for separate parts of the model to linearize.

I need the state-space as a form like below,

$$\dot{x}=Ax(t)+Bu(t)$$

I couldn't find the $A$ and $B$ matrices. I made the small angle and hover condition approximations so that equations become simpler yet they are still non-linear.

Non-simplified equations are as follow,