By definition, UAV means Unmanned Aerial Vehicle, which in fact has been growing in the recent years, encouraged by technological developments, especially in the electronics and military automation areas. Regarding that subject, this work aims to develop, simulate and compare two different control techniques in quadcopter altitude position. Low-Level Proportional Integral Derivative (PID) controllers are developed for vehicle angular stabilization (roll, pitch and yaw). Using the Successive Loop Closure technique, two high-level control techniques were designed to track the aircraft vertical position: A nonlinear one, based on Lyapunov functions to develop Integral Backstepping; And another linear, based on the PID method. Finally, the results were simulated and analyzed through non-intrusive performance indexes, based on the integral errors (IAE, ISE and ITSE). The results indicated that the nonlinear controller designed was superior compared to the linear one. However, both techniques were capable of controlling the UAV altitude dynamics.