Cross-domain hypersonic flight vehicle design has typical features, such as the wave rider configuration integrated with a scramjet. The slender body and the utilization of light materials lead to strong coupling among the flight dynamics, structural dynamics, and control system. In the present study, control-oriented modeling and control method for a flexible hypersonic vehicle is investigated. The branch mode method is applied in the coupling model, where the flexible fuselage is modeled as a free-free beam, and the wings of the vehicle are modeled as two cantilever beams. The coupling rigid/elastic model of the hypersonic vehicle is developed, and the aeroservoelastic of the flight vehicle is analyzed in the frequency domain. To investigate the rigid/elastic coupling and the suppression of vibrations, the classical PID controller is used to guarantee the stability of the control system.