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Structure Regulator for the Perturbations Attenuation in a Quadrotor

In this work, we study the structure regulator for the perturbations attenuation which is based on the infinite structure regulator. The structure regulator is able to attenuate the perturbations if the transfer function of the departures and perturbations has a numerical value almost equal to zero, and it does not require the perturbations to attenuate them. We apply the structure regulator and the infinite structure regulator to a quadrotor which maintains the horizontal position with respect to the earth for the step and sine perturbations.