據對四旋翼的模型進行受力分析，推到出四旋翼的機理模型，根據機理模型，在simulink里搭建系統框圖，給系統一定放入輸入，將仿真出四旋翼的運動軌跡。

% Simulation times, in seconds.
start_time = 0;
end_time = 10;
dt = 0.005;
times = start_time:dt:end_time;

% Number of points in the simulation.
N = numel(times);

% Initial simulation state.
x = [0; 0; 10];
xdot = zeros(3, 1);
theta = zeros(3, 1);

% Simulate some disturbance in the angular velocity.
% The magnitude of the deviation is in radians / second.
deviation = 100;
thetadot = deg2rad(2 * deviation * rand(3, 1) - deviation);

% Step through the simulation, updating the state.
for t = times
    % Take input from our controller.
    i = input(t);

    omega = thetadot2omega(thetadot, theta);

    % Compute linear and angular accelerations.
    a = acceleration(i, theta, xdot, m, g, k, kd);
    omegadot = angular_acceleration(i, omega, I, L, b, k);

    omega = omega + dt * omegadot;
    thetadot = omega2thetadot(omega, theta); 
    theta = theta + dt * thetadot;
    xdot = xdot + dt * a;
    x = x + dt * xdot;
end

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