A tilt rotor VTOL UAV in tri-copter configuration is developed. The vehicle is modeled using the blade element formulation for the propulsion system, and the aerodynamic properties are obtained from a 3D panel code. Linear quadratic regulators and linear quadratic tracking controllers are designed for the attitude control of the aircraft in vertical takeoff and hover flight conditions. The vehicle is built and hover flight tests are carried out. The results demonstrate the success of the modeling carried out and the controller designed.