This master thesis is dedicated to the design and simulation of a model following controller for a quadrotor underactuated system. First, the quadrotor is modeled as a nonlinear Multi-Input Multi-Output (MIMO) system in affine form with four inputs (torques and thrust) and for outputs (three axis position and yaw angle). This was made by kinematics and Newton-Euler dynamics formulation. For the design, the model following control is composed by a Model Control Loop (MCL) where an idealized nominal plant model is considered. In this stage the special case of dynamic extension for MIMO systems is considered to obtain the decoupling matrix nonsingular and achieve full relative degree, then the augmented system is transformed in a Byrnes-Isidori-form so feedback linearization technique with state feedback gain can be applied for a reference trajectory. Hence, a second controller that operate...