The electrical vertical take-off and landing(eVTOL) vehicle is a prospective choice for urban transportation due to zero emission and low requirements on landing sites. However, full envelope flight control design of an eVTOL is challenging because of its wide range of flight conditions and strong nonlinearities near the transition state. A nonlinear dynamic inversion(NDI) based control method is studied to address this issue. The NDI-based control method requires no gain-scheduling step and is able to maintain stability and performances over a large flight envelope, which makes it an ideal option for eVTOL flight control. In this paper, a flight controller for a real-world unmanned eVTOL is designed. We incorporate an NDI-based inner loop controller with an H \(_\infty \) outer loop controller to increase robustness of the overall system for each flight mode of the eVTOL. All the sub-controllers are integrated together to complete a flight from vertical takeoff, forward transition, level flight, backward transition, to eventually landing. Simulation results show that system’s stability can be assured by the NDI-based controller giving appropriate pilot commands and control signal limitations and the system’s tracking performance reaches expectations. This shows potentials of applying NDI-based methods to eVTOL control designs.