The aim of this paper is to outline a design process of an attitude control system for unmanned rotorcraft. This small-scale unmanned aerial robot’s concept is based on three rotors and one single tilt mechanism. Final design is consisted of mechanical construction, measurement system including navigation algorithm, as well as control structure and algorithm implementation at the last stage. It is important to underline that high attention was focused on the measurements filtering, estimation of the angular position, and in particular the practical aspects of the control implementation. Furthermore, a PID algorithm including various modified loop structures was studied. On the whole, it is worth to mention that the design, analysis and the validation tests were undertaken on the experimental aerial platform.