In this paper, the design of the UAV attitude control loop of the small high speed UAV is carried out under the external disturbance in the complex flight environment and the unmodeled characteristics of the aircraft itself. First, in order to suppress the external disturbance and model uncertainty, Utilizing the angular kinetic motion model of the angular velocity, robust servo LQR linear controller and the model reference adaptive compensation controller are designed, and then the dynamic inverse PID design of the attitude angle loop is carried out on the basis of the angular rate inner loop. The man-machine flight simulation experiment proves the effectiveness of the proposed method.