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Besides, it is considered that only a part of the state vector of the quadrotor is available through measurements. As a consequence, the state vector of the plant must be estimated in order to close the control loop. On this basis, a controller to track random references and to reject random perturbations is developed by combining a Kalman filter to estimate the references and perturbations of an exosystem and an observer to estimate the states of a quadrotor. Besides, to obtain a more practical controller, the analysis is carried out in discrete time. Numerical simulations are used in a quadrotor to confirm the validity and effectiveness of the proposed control.<\/jats:p>","DOI":"10.1155\/2022\/3981340","type":"journal-article","created":{"date-parts":[[2022,1,20]],"date-time":"2022-01-20T17:50:24Z","timestamp":1642701024000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["On the Rejection of Random Perturbations and the Tracking of Random References in a Quadrotor"],"prefix":"10.1155","volume":"2022","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6557-2745","authenticated-orcid":false,"given":"Jesus Alberto","family":"Meda-Campa\u00f1a","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8429-0591","authenticated-orcid":false,"given":"Jonathan Omega","family":"Escobedo-Alva","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2005-5979","authenticated-orcid":false,"given":"Jos\u00e9 de 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