Design, Construction and Control of a Large Quadrotor Micro Air Vehicle
PhD Thesis, Paul Pounds
http://www.eng.yale.edu/pep5/P_Pounds_Thesis_2008.pdf
This Thesis starting with nice introduction to UAV and quadcopters and then go deeper on how to design and construct them.
Goes into details on design and control of a large quad - including custom props and ESCs, as well as linear and non-linear control techniques.