The aerodynamic parameters of small aircrafts are uncertain, so it is difficult to establish accurate mathematical models, and it has strong nonlinearity. Therefore, an incremental dynamic inverse control method based on the extended state observer is proposed, and an attitude controller of the small aircraft is designed based on this. By introducing angular acceleration information to the controller, the method does not require an accurate model, and the aircraft angular acceleration information can be estimated by the extended state observer. The simulation results show that the incremental dynamic inverse control method based on the extended state observer can realize the attitude control of small aircraft and has good robustness.