I am looking for a dynamic model of quadrotor

i didnt find any research paper which explains the modelling of quad. i want to do my project in quad tracking.

This might help as it goes onto how to model the dynamics of a basic quadcopter - http://andrew.gibiansky.com/downloads/pdf/Quadcopter%20Dynamics,%20Simulation,%20and%20Control.pdf

Best of all is :
Quadrotor Dynamics and Control
Randal W. Beard
Brigham Young University
October 3, 2008