The objective of this course completion work was to develop a realistic and sophisticated mathematical model of a tilt rotor drone in modular form. The mathematical formulation used, as well as its implications, simplifications and assumptions were exposed in a detailed manner, to allow for future research. A discrete, code line simulator using MATLAB script and a continuous simulator using MATLAB s Simulink tool were created. The PID control was used as a classical control technique in an attempt to stabilize and control the system. The LQR control was used as a modern control technique and discussions were made about the use of a feedback control loop stabilization applied to this multiple inputs multiple outputs (MIMO) nonlinear non affine system. The aerodynamic forces and drag were discussed and a mathematical implementation of such forces was suggested as a possible addition to future models.