Redirecting you to https://www.researchgate.net/profile/Gerardo_Flores3/publication/220061685_Quad-Tilting_Rotor_Convertible_MAV_Modeling_and_Real-time_Hover_Flight_Control/links/54e5149f0cf22703d5c0409f/Quad-Tilting-Rotor-Convertible-MAV-Modeling-and-Real-time-Hover-Flight-Control.pdf