A series of studies concerning the control of aircraft using nonlinear inverse dynamics based control techniques is presented. Following a summary of the inverse dynamics control theory, a design procedure for effective use of the method for flight control is generated. The novel features of the design have included the direct incorporation of handling qualities specification in the controller synthesis, the special considerations necessary for the inclusion of flap like direct force control devices (e.g. spoilers), and the introduction of 'principal controller' design for the efficient synthesis of multimode control systems using NID control. Detailed derivations of the symbolic inverse dynamics of the aircraft are given. The end result is a flight control system which satisfies handling qualities requirements and comprises mission-defined control modes for active control of the aircraft using nonlinear spoilers. Its success and effectiveness are demonstrated through simulation.