“…In this chapter, it is presented two of them, the computed-torque and the Incremental Nonlinear Dynamic Inversion (INDI). The computed-torque and feedback linearisation has already been applied to quadrotors control (LOTUFO et al, 2015;BALASUBRAMANIAN;VASANTHARAJ, 2013), tri-rotors control (MOHAMED; LANZON, 2013) and fixed-wing control (CHEN; HE; QIAN, HU et al, 2012), but only preliminary results without convergence were applied to a tailsitter attitude controller (KOHNO; UCHIYAMA, 2014) and for the control of the flight velocity and path angle, which are more related to the navigation of a tailsitter (JUNG; SHIM, 2012). INDI was also used for the control of fixed-wing (SIEBERLING; CHU; MULDER, 2010), a quadrotor (SMEUR; CHU; CROON, 2015) and a tiltrotor (FRANCESCO; MATTEI, 2015), but not for tailsitters, reinforcing the contribution of the DI with PID structure for AVALON.…”