An Optimal Guidance Law Applied to Quadrotor Using LQR Method. Jafari, H., Zareh, M., Roshanian, J., & Nikkhah, A. Transactions of the Japan Society for Aeronautical and Space Sciences, 53(179):32–39, JSTAGE, 2010.
bibtex   
@Article{jafari2010optimal,
  Title                    = {An Optimal Guidance Law Applied to Quadrotor Using LQR Method},
  Author                   = {Jafari, Hamidreza and Zareh, Mehran and Roshanian, Jafar and Nikkhah, Amirali},
  Journal                  = {Transactions of the Japan Society for Aeronautical and Space Sciences},
  Year                     = {2010},
  Number                   = {179},
  Pages                    = {32--39},
  Volume                   = {53},

  Owner                    = {Mehran},
  Publisher                = {JSTAGE},
  Timestamp                = {2015.07.17}
}
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