This article presents a comprehensive approach applied to the QBall 2 quadcopter, covering model formulation, model linearization, multivariable controllers design (PD multiloops, state-space tracking system and MPC), and ROS (Robot Operating System) simulation. The simulation in ROS is used as a virtual environment to test and validate the behavior of the QBall 2 quadcopter, a simulation is configured that includes the three-dimensional model of the quadcopter, the interaction with the simulated environment and the evaluation of the performance of the controllers through the MATLAB software. This allows for efficient adjustments and improvements before taking the quadcopter out into the real world.