Aerial artifacts with four or more rotors have been subject to an accelerated evolution in the last years. Research groups in the area of engineering of systems, engineering control students, and amateurs general are working to achieve the implementation of more robust models and controllers, so that they can be work with more detailed, accurate simulations, and therefore more realistic in the behavior of the four-wheelers. Many authors thinking of a future in a practical and limited implementation power of calculation for the imposed lightness in weight, opt for the modeling of the dynamics of the vehicle which makes it possible to control the quadrotor using classical control techniques of linear systems such as the PID, for means of the linearization of the behavior dynamics of the device around a point of operation that is usually Choose according to where the artifact should go. However, the flight wide range or with more complex maneuvers demands a better performance of the control system, a need that can only be achieved by the use of non-linear control techniques, since they consider a more general form of vehicle dynamics in all flight zones, but these in turn imply a model more complete of the aerial artifact.