© 2016 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.This study presents different linear controllers for the flight control of a quadrotor with fixed-pitch propellers. The quadrotor propulsion system model is based on the experiments carried out previously. As a continuation of previous study, design of a 4 kg quadrotor vehicle is completed. In addition, three linear controllers namely proportional plus derivative controller, linear quadratic regulator, and linear quadratic tracking controller are designed in order to choose the most appropriate controller for the designed quadrotor. Simulation results are given and discussed.