In this thesis, a multi-objective control for a research uninhabited aerial vehicle is presented. Using the eigenstructure assignment approach, a flight controller is developed to meet multiple design specifications during a flight mission. The controller is implemented into a digital control system with commercial off-the-shelf actuators. Real-time simulations and hardware-in-the-loop experiments are performed to verify the feasibility of this design. In addition, a comparative analysis of different digital implementation are made. The Kalman filter is further employed to improve the performance of the digital control system.