Dynamic inversion method makes high requirement for model accuracy. The robustness of dynamic inversion controller couldn't be guaranteed with uncertain parameter. Perfection of design methodology of nonlinear dynamic inversion using robust control was discussed. In order to improve the performance of dynamic inversion controller, double-loop was adopted. Dynamic inversion was used in inner loop, the mathematical model of pseudo-linear system was studied based on quantitative analysis, and its parameter uncertainty was presented. The outer loop was designed via 2DOF robust loop shaping which include mixed sensitivity and model matching, and is formulated within the framework of H∞ problem. The robust controllers of three channels were designed using the model of pseudo-linear system, and robustness of dynamic inversion controller was enhanced.