System identification and H∞-based control of quadrotor attitude

•A black-box continuous-time system identification based on the experimental data.•Setting proper uncertainty, input, and sensitivity weighting functions.•Synthesizing the H∞ controller based on the obtained linear model.•Implementing of H∞ controller on the real robot and evaluating its performance.•Comparing with PID and μ synthesis controllers in the presence of disturbance and wind.