A universal control system for a robust trajectories a result of the case of unmanned multi rotor air vehicles (uavs, unmanned aerial vehicles) is disclosed. A specific embodiment comprises: a sensor system for measuring a position and orientation of an unmanned multi rotor air vehicle (uav); and a flight expensive system, which is coupled to the sensor system, wherein the flight expensive system is configured to: obtaining position - and orientation data of the sensor system; generating a plurality of discharge lines from the positions - and orientation data by using a differentiator; applying a decoupling control law to the approximate decoupling of the trans modulation dynamics from one another in a three-dimensional (3d) space; calculating error values between desired trajectories and actual trajectories in each dimension of the 3d - space under use of the plurality of discharge lines and of the decoupled dynamics; and generating control signals to the varying rotational speeds of a plurality of thrust elements, by the calculated error values in each dimension of the 3d - space to counteract.n="44"
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