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However, the use of this innovative technology for civilian applications is still very limited in low\u2010income countries due to the high cost, whereas low\u2010cost controllers available in the market are often tuned using the hit and trial approach and are limited for specific applications. This paper addresses this issue and presents a novel proof of concept (POC) low\u2010cost quadcopter UAV design approach using a systematic Model\u2010Based Design (MBD) method for mathematical modeling, simulation, real\u2010time testing, and prototyping. The quadcopter dynamic model is developed, and controllers are designed using Proportional Integral, and Derivative (PID), Pole Placement, and Linear Quadratic Regulator (LQR) control strategies. The stability of the controllers is also checked using Lyapunov stability analysis. For verification and validation (V&amp;V) of the design, Software\u2010in\u2010the\u2010Loop, Processor\u2010in\u2010the\u2010Loop, Hardware\u2010in\u2010the\u2010loop testing, and Rapid Control Prototyping have been performed. The V&amp;V methods of the MBD approach showed practically valid results with a stable flight of the quadcopter prototype. The proposed low\u2010cost POC quadcopter design approach can be easily modified to have enhanced features, and quadcopters with different design parameters can be assembled using this approach for a diverse range of applications.<\/jats:p>","DOI":"10.1155\/2022\/1492170","type":"journal-article","created":{"date-parts":[[2022,3,28]],"date-time":"2022-03-28T18:20:08Z","timestamp":1648491608000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["Model\u2010Based Design, HIL Testing, and Rapid Control Prototyping of a Low\u2010Cost POC Quadcopter with Stability Analysis and Control"],"prefix":"10.1155","volume":"2022","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8399-4447","authenticated-orcid":false,"given":"Abdullah","family":"Irfan","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2199-1013","authenticated-orcid":false,"given":"Muhammad Gufran","family":"Khan","sequence":"additional","affiliation":[]},{"given":"Arslan Ahmed","family":"Amin","sequence":"additional","affiliation":[]},{"given":"Syed Ali","family":"Mohsin","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5035-7567","authenticated-orcid":false,"given":"Muhammad","family":"Adnan","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1221-9769","authenticated-orcid":false,"given":"Adil","family":"Zulfiqar","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2022,3,28]]},"reference":[{"key":"e_1_2_12_1_2","doi-asserted-by":"publisher","DOI":"10.33697\/ajur.2016.011"},{"key":"e_1_2_12_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/mcom.2017.1600238cm"},{"key":"e_1_2_12_3_2","first-page":"187","article-title":"A review on vertical take off and landing (vtol) vehicles","volume":"2","author":"Intwala A.","year":"2015","journal-title":"Interna-tional Journal of Innovative Research in Advanced Engineering (IJIRAE)"},{"key":"e_1_2_12_4_2","first-page":"7151","article-title":"Modeling and simulation of quadcopter using PID controller","volume":"9","author":"Praveen V.","year":"2016","journal-title":"International Journal of Control Theory and Applications"},{"key":"e_1_2_12_5_2","doi-asserted-by":"crossref","unstructured":"ZenkinA. 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