Aiming at the problems of slow response speed, poor anti-jamming ability and large overshoot in traditional PID control system of quadrotor aircraft, the Model Algorithmic Control (MAC) is introduced into the traditional PID control system to improve the dynamic and static performance of the control system.The incomplete differential PID controller is combined with the MAC controller to form a cascade closed-loop control system.The incomplete differential PID controller is used as the inner loop control to realize the attitude control of roll angle and pitch angle.The MAC is used as the outer loop control to realize the control of position and yaw angle.The simulation results show that the method has smaller overshoot, faster response speed and smoother response curve than the traditional PID control.