The quadrotor type of UAV (QUAV), is arguably the most popular type for civilian purposes, since it does not mandate a complicated remote controlling skill to operate it. This popularity, however, has yet to be balanced with research in mathematical modelling, design, and analysis. This paper describes a mathematical modelling process of a QUAV, by exploiting the usage of MATLAB/Simulink software. The main aim is to provide a proper mathematical model to design and evaluate the control system to maintain QUAV stability. Along with the model, three basic automatic control systems were also designed, i.e., the forward-speed hold, sideward-speed hold, and altitude hold system. Several simulations were conducted afterward, to test both the model and the designed control system, which showed satisfying results in representing a QUAV system. QUAV dynamic characteristics can be observed from the simulation, including the logical commands to alter the rotors thrust, the rotor limitation in handling many commands at once, the vehicle dependency of automatic control systems, and the fact that a motion in one degree of freedom can easily affected others. The developed model evidently has a good potential as a base for QUAV analyses and control design.
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