  In the paper "Control Design for UAV Quadrotors via Embedded Model Control"
[1], the authors designed a complete control unit for a UAV Quadrotor, based on
the Embedded Model Control (EMC) methodology, in combination with the Feedback
Linearization (FL); when applied to non-linear systems. Specifically, [1]
proposes to use the FL as a novel way to design the internal model for the EMC
state and disturbance predictor. To support the treatise in [1], in this report
the feedback-linearized model of the UAV quadrotor leveraged in [1] is
step-by-step derived.
