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van 't Veld, R.C. (author)Incremental Nonlinear Dynamic Inversion (INDI) is a variation on Nonlinear Dynamic Inversion (NDI) retaining the high-performance advantages of NDI, while increasing controller robustness to model uncertainties and decreasing the dependency on the vehicle model. After a successful flight test with a multirotor Micro Aerial Vehicle (MAV), the...master thesis 2016