Do you have to have a rate controller?

I've been reading some academic papers such as


There are only three PIDs in these papers and they seem to control the the attitude by measuring the desired angle and measured angle. 

Is it possible to only use three Stabilization PIDs to control the Quad. for example, in a plus mode quadcopter, the motor output of the front motor would be described as


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  • I believe you can!

    I am also interested in Controls research for Quads. Which papers would be good for introduction?

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