‫But you one is only one system input, we have three system inputs more, and by the way, control action
‫and system input are the same thing.
‫Again, just the terminology.
‫So here you see how role control action, which is now a talk, which means that its unit is Knewton
‫meters.
‫Here you can see how role control action is generated.
‫More one and more three rotate at the same rate.
‫More or two increases its rotation a bit by Delta A radians per second and more four decreases its angular
‫rotation by Delta B radians per second.
‫That creates a talk about the body frame x axis.
‫That torque is our role control action and we're going to call it Yuta.
‫And it's units are Knewton meters.
‫Assuming no other talks around you creates angular acceleration phy double dot around the body frame
‫x axis.
‫And in the previous case we had small Z double dot, which was linear acceleration.
‫So its unit was meter per second squared.
‫Now angular acceleration five double that unit is radians per second squared because it's angular acceleration.
‫The relationship between you two and fine double that is very simple.
‫You two equals the mass movement of inertia about the body frame x axis times five double knot.
‫And remember, mass movement of inertia is resistance to angular acceleration.
‫The bigger it is, the harder it is to rotate the body.
‫Two is also something that the controller will find.
‫So if this is the plant and this is our controller, then our controller, instead of finding rotational
‫velocities of the propellers instead it will give us you one, you two, then you three.
‫And you for all these things will be found by our controller.
‫And then in the plant we will find a way how to go from you.
‫One, two, three, four, to the rotational velocities of the propellers.