Incremental nonlinear dynamic inversion (INDI) can effectively solve the problem that traditional dynamic inversion control relies on high-precision models, so the method is used in large angle-of-attack flight control of war-planes to improve the robustness of dynamic inversion controllers in air combat environments. This paper proposes an incremental dynamic inversion flight control method based on expanded state observer (ESO), which uses incremental dynamic inversion technique and ESO for estimating the angular acceleration. Furthermore, uncertainties are added to the system, and MATLAB/Simulink is used to simulate the Cobra-like maneuver for verification. The results show that the ESO can estimate the angular acceleration well, and the controller is insensitive to uncertainties and thus avoids the weak robustness brought by over-reliance on the exact controlled object model of the dynamic inversion.