Transactions on Machine Design Faizan Shahid, Muhammad Bilal Kadri, Nasir Aziz Jumani, Zaid Pirwani 4 2 2016 In this paper a dynamical modeling of a quadrotor is discussed with different frame of references.The state equations are derived using gyroscopic and aerodynamics effects. The motor transfer function is derived from theoretical equations of DC motor with an operational delay. Furthermore a control strategy is presented using Proportional Derivative (PD) Controller for the attitude and trajectory control of the Quadrotor (UAV). Finally, simulation results for the PD controller are generated on MATLAB/ Simulink platform by utilizing the dynamical model of Quadrotor (UAV) .Feedback sensor noise is added to the model output to make simulations more realistic. The simulation results confirm that the Quadrotor (UAV) is following the desired trajectory with a maximum error deviation of 0.2 meters.