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Research of modern flight control methods for unmanned aerial vehicle (UAV), which brings benefits of lowering the cost and risk associated with the design of actual physical flight systems, has become research hotspot in recent years. However, controller design for UAV is complicated and challengeable due to UAV uncertainties, nonlinearity and coupling. This paper presents a new hybrid controller design scheme, which consists of inner-loop controller and outer-loop controller. The Inner-loop controller realizes linearization and decoupling of flight systems by employing feedback linearization, which establishes direct relationship between the desired UAV output and moment instead of traditional fast and slow dynamics. For further consideration of uncertainties, such as unmodeled dynamics and external disturbances, The outer-loop controller is designed to realize the robustness of flight systems by using mu- synthesis approach. Numerical simulation shows that UAV equipped with the hybrid controller has weaker conservation and a stronger ability to resist disturbances.