**3. Propulsion Chain Modeling**

The physical model of the propulsion chain, of an eVTOL multirotor aerial vehicle (with n arms) is presented in Figure 5. Each propulsion chain is composed of a propeller, a motor with its equivalent internal resistance, an ESC represented as a simple resistor, and an energy storage system modeled as an open circuit voltage with a series resistor. In

this configuration (Figure 5), the energy storage system supplies the n propulsion chains. The modeling process will aim to establish a relationship between the propulsion chain components, especially between the propeller and the motor, in order to formulate the optimization problem. In this case, each component will be modeled in a steady state.

**Figure 5.** eVTOL multirotor physical model.
