| 参数 | 描述 | 模型中的值 | 控制器中的模型误差率 |
| m | Mass of quadrotor | 1.77 kg | 120% |
| Lr, Lx, Ly | Lever arm length | 0.42 m, 0.362 m, 0.212 m | 100% |
| Ixx | Body inertia of x axis | 2.16 × 10−3 kg∙m2 | 75% |
| Iyy | Body inertia of y axis | 4.52 × 10−3 kg∙m2 | 120% |
| Izz | Body inertia of z axis | 8.33 × 10−3 kg∙m2 | 80% |
| kf | Force coefficient | 0.301 e−3N/(rad/s)2 | 95% |
| kt | Torque coefficient | 0.421 e−5N/(rad/s)2 | 85% |
| k1, k2, k3 | Motor model coefficient | 20, 0.01, 3.5 | 0 |
| kl | Elastic coefficient of gear | 6000 N/m | 0 |