[1]
M. Bouchoucha, S. Seghour, H. Osmani, and M. Bouri, “Integral Backstepping for Attitude Tracking of a Quadrotor System”, ELEKTRON ELEKTROTECH, vol. 116, no. 10, pp. 75–80, Dec. 2011, doi: 10.5755/j01.eee.116.10.888.