Abstarct: Nowadays, the automatic control of aircraft is one of the important issues of engineering research. The nonlinear dynamic inversion method is one of the most important methods used in this field, which design an inverse dynamic controller separately for each loop according to the time scale separation theorem. But when other controllers like PD are used to increase the performance, the modes of the loops affect each other and should not be designed separately for them. In this thesis, by developing the mentioned method, we seek to track the input reference command (Euler angles) and fault tolerant control. in such a way that, in the first stage, by combining the integral sliding control method and dynamic inversion in the inner loop, an incremental component has been added to the control effort to overcome the uncertainties in the controller dynamics, and three PD controllers are designed in the outer loop by simultaneously considering the states of the inner and outer loops. All the relations, including the condition that the states are bounded into a spheroid, and the exponential stability of the closed-loop system by considering the turbulence and state-dependent uncertainty, are formulated in the form of linear matrix inequality (LMI). By solving these LMIs simultaneously and without using TSST, the control parameters have been obtained. In the second stage, due to the robustness of the presented control method to uncertainties, a system has been designed to detect the fault of the aircraft actuator. The third part has been considered the reconstruction of the controller. This type of fault-tolerant controller (FTC) is designed to actively reduce the efficiency of the actuator. All the designs performed on the nonlinear equations of the six degrees of freedom of the Boeing-747 aircraft have been simulated in MATLAB software. In the end simulation results show the superiority of the proposed method over the conventional dynamic inversion method.