Several models of the rotorcraft exist in the present technology. They are the quadrotor (four motor propellers), and the Tricopter (three motor propellers). We can present a controller to simulate the responses for their different structures through its rotorcraft dynamics model. The chapter teaches us how to analyze the dynamics of the quadrotor structure. From the equated model, we can step forward to study the control characteristics to design a controller for the flight systems. Moreover, fleet control is also introduced. MATLAB is utilized to simulate and characterize its responses. For simulation, we validated the controllers in the LabVIEW environment.