The present invention describes a kind of method and apparatus, and the design aircraft for accurately controlling and controlling includes at least one spinning part and at least one partially generally but not loses generality without spin, and spinning part is rotor, and non-rotating portion fuselage. Described principle extends to any number of rotation and not rotary part, and the present invention is made to be suitable for traditional single rotor helicopter design and more rotor designs. This method and device especially suitable for UAVs, operator it is dry see all aircraft flights during, therefore posture can not be corrected. However, this method can also be applied to for the model of an airplane and full-scale vehicle. The principle of the invention with continuous and calculate separately required torque to control spinning parts and for the component of idle running, and by all torques and obtains correct torque complete aircraft. It does so, it can continuously apply correct torque, while correctly be distributed in the angle (correct) for rocking the axis that jolts, and correct amplitude. As a result pitch axis is separated, simplifies two single-input single-output controllers of Control System Design and design, one is cut for each with axe.
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