Hexacopter modeling and control on MATLAB/Simulink

I want to learn about dynamic modeling and control of hexacopter with classical PID controllers on MATLAB/Simulink for a project. I’ve been looking at research papers and found the non-linear equations for the hexacopter using Newton-Euler’s method and relations between control inputs and motor speeds. I’ve also designed an open-loop system that takes the rotor speeds as input and gives the control inputs which are then fed to the non-linear equations to generate position and orientation. I want to design a closed-loop system with PID controllers to start with.
I’d like to get a reliable source to follow. Any help is appreciatable.
Thanks in advance!

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I also interest in mathematically modelling