‫And so there you go.
‫We now have our four system inputs that are controller will have to compute.
‫They are you one, you two, you three and you four.
‫You one is a force, a thrust and is measured in Newtons and the other ones are talks or moments.
‫And they are measured in Newton meters.
‫And in global control scheme.
‫It all looks like this.
‫You have your reference values, you have your controller plant that will give you states and outputs
‫that are faring to the controller alongside with reference values.
‫And the controller will give you the four control inputs.
‫And as far as the controller is concerned, the system inputs that enter the plant.
‫Are you one you two, Q3 and Q4 and not the propeller rotational velocities only inside the plant.
‫This is the same block like this one, only inside this plant block.
‫They will be converted into Sigma one, sigma two, sigma three and Sigma four.
‫So if we go one level deeper inside the plant block, then it looks something like this.
‫There are functions inside that block that will convert the system inputs.
‫You want you to Q3 and Q4 into the propeller's rotational velocities sigma one, two, three and four.
‫In other words, the controller finds the forces in moments that are needed to be generated by the propellers
‫in order to move the drone somewhere where you want it to go.
‫And then in the plant you will find the rotation of the last piece of the propellers that you need in
‫order to generate those forces and moments that are found by the controller.
‫So it's like a reverse operation.
‫Normally you would ask yourself, OK, what are the rotation of velocities of the propellers?
‫And then using that information, you can compute the forces and talks that are generated by those propellers.
‫However, now in our case, we do it the other way around.
‫Our controller first finds the forces and moments that the propellers need to generate.
‫And then inside the plant, using inverse operation, you compute the rotational velocities of the propellers
‫needed to generate the forces and talks that the propellers need to generate.
‫And then the other mathematical model itself will take in both the Sigma's and the force and torque
‫control actions.
‫So the equations that we will have here that we will derive later in this course, they will contain
‫all of these variables, the use and the Sigma's.
‫This concludes this section on drone architecture firm control systems point of view.
‫We are now ready to move on to the next section there.
‫We will start building the basis for deriving a universe mathematical open loop plan model.
‫Thank you very much.
‫And I will see you in the next video.