| Symbol | Definition |
| | Input signals | | Pitch angle of the beam | | Yaw angle of the beam | | Moment of inertia of vertical (horizontal) rotor | | Gravity momentum | | Friction momentum forces | | Gyroscopic momentum | | Static parameters of motor , | | Gravity momentum | , | Friction momentums | | Gyroscopic momentums | | Motor gain | | Motor denominator | | Cross reaction momentum approximation | | Cross reaction momentum gain | | Cross reaction momentum |
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