A method for controlling a drilling trajectory of a wellbore includes computing a position and attitude of a drill bit within a wellbore. The method further includes computing a wellbore trajectory error between (i) the position of the drill bit and a well plan position and (ii) the attitude of the drill bit and a well plan attitude. Further, the method includes determining an inclination set-point change command and an azimuth set-point change command using the wellbore trajectory error. Additionally, the method includes steering the drill bit using the inclination set-point change command and the azimuth set-point change command.