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This web page buildandcrash.blogspot.com states the following, "A journal of my exploits in building things and then frequently crashing them." We saw that the webpage said " Mostly centered around multirotors and UAVs but really whatever strikes my fancy to build." It also said " Sunday, October 30, 2016. Linear Gaussian Quadratic Control System. For the last year when Ive had time, I have been developing an entirely new control scheme at least as far as I know for the open source community for multi rotors that replaces PID by expanding upon Tau Labs System Identification. See the mathematical description here."