Reddit reviews Modeling and Control Simulation For Autonomous Quadrotor: Quadrotor Nonlinear Modeling and Control Simulation using Matlab/Simulink environment
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Used Book in Good Condition
Mathwork's Aerospace toolbox has an entire Quadcopter project that could give you an idea of how to model a Quadcopter in Simulink.
Idris Putro also has a good book on modelling and control.
https://www.amazon.com/Modeling-Control-Simulation-Autonomous-Quadrotor/dp/3844318062