In this paper, the complete nonlinear modeling of dynamical quadrotor is studied. The modeling is conducted in two parts of body modeling using Newton – Euler’s method and propulsion system modeling. The propulsion system is modeled in eight phases of movement. According to the movement phase, the system dynamic switches on one of the models. Convenient access to the nonlinear model is one of the distinct advantages that, in issues related to quadrotor control, can easily utilize non- linear model, and unlike the body of research, is restricted to the body model due to the difficult access to propulsion system. After that, the complete nonlinear model is simulated in MATLAB soft. Further in the study, virtual inputs are presented to create a strong physical sense of the issue, which can also be used in designing a controller for controlling the system. Then, the accuracy of the system is evaluated by designing and implementing six dynamic performance tests on the model and three PD controllers are designed and applied to the system with the aim of controlling the attitudes.

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