“…m is the rotational speed of the motor, R is the phase resistance of the motor, L is the phase inductance of the motor, K e is the electrical constant of the motor, K f is the friction constant of the motor, K T is the torque constant of the motor, J p þ J m is the combined propeller and motor shaft inertia, m is the torque required to spin the propeller at a given speed ! i , and s is the voltage supplied from the battery (see Erturk and Kiruthika et al 12,13 ). Assuming a linear relation between the voltage supplied and the maximum voltage of the battery, the throttle input is given as…”