Abstract: This paper introduces a hierarchical self-tuning flight control system scheme. The first level is the control cf three angles motion y. The second level is the control of three linear motion x.y.z. The third level is the set point of x.y. z. generation. The decentralized and hierarchical algorithm can reduce the computing time and enhance the adaptive ability. So it is an effective and feasible scheme of such control system. An example is given for illustration.