Systems and methods are provided for aircraft attitude control. The aircraft attitude control may take physical parameters of the aircraft into account. For example, one or more aircraft configuration parameters, such as moment of inertia, motor lift curve, and/or axial distance may be calculated and/or taken into account based on the aircraft physical parameters. The aircraft configuration parameters may include non-linear parameters. The control systems may include feedback control systems, and may optionally use a feedforward and feedback control for angular acceleration.