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    "## Quadcopter\n",
    "\n",
    "The quadcopter is a rigid body with 6 degrees of freedom. It can move in the x, y, and z directions, and it can rotate about the x, y, and z axes. The motion of the quadcopter is governed by the following equations:\n",
    "\n",
    "$$\n",
    "\\begin{aligned}\n",
    "\\dot{x} &= v_x \\\\\n",
    "\\dot{y} &= v_y \\\\\n",
    "\\dot{z} &= v_z \\\\\n",
    "\\dot{v}_x &= \\frac{1}{m}(T_1 - T_3) \\\\\n",
    "\\dot{v}_y &= \\frac{1}{m}(T_2 - T_4) \\\\\n",
    "\\dot{v}_z &= \\frac{1}{m}(T_3 + T_4 - T_1 - T_2) \\\\\n",
    "\\dot{\\theta}_x &= \\omega_x \\\\\n",
    "\\dot{\\theta}_y &= \\omega_y \\\\\n",
    "\\dot{\\theta}_z &= \\omega_z \\\\\n",
    "\\dot{\\omega}_x &= -\\frac{k_x}{I_x}(\\theta_x - \\theta_r) \\\\\n",
    "\\dot{\\omega}_y &= -\\frac{k_y}{I_y}(\\theta_y - \\theta_r) \\\\\n",
    "\\dot{\\omega}_z &= -\\frac{k_z}{I_z}(\\theta_z - \\theta_r)\n",
    "\\end{aligned}\n",
    "$$\n",
    "\n",
    "where:\n",
    "\n",
    "- x, y, and z are the position of the quadcopter in the global coordinate system\n",
    "- $\\theta_i$ are the angles of rotation of the quadcopter about the x, y, and z axes\n",
    "- $\\omega_i$ are the angular velocities of the quadcopter about the x, y, and z axes\n",
    "- $T_i$ are the thrust forces on the four rotors\n",
    "- $k_i$ are the stiffness coefficients of the rotors\n",
    "- $\\theta_r$ is the desired angle of rotation of the rotors"
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