Recently the quadrotors are being increasingly employed in both military and civilian areas where a broad range of nonlinear flight control techniques are successfully implemented. With this advancement, it has become necessary to investigate the efficiency of these flight controllers by studying theirs features and compare their performance. In this paper, the control of Unmanned Aerial Vehicle (UAV) quadrotor, using two different approaches, is presented. The first controller is Nonlinear PID (NLPID) whilst the second one is Nonlinear Internal Model Control (NLIMC) that are used for the stabilization as well as for the 3D trajectory tracking. The numerical simulations have shown satisfactory results using nominal system model or disturbed model for both of them. The obtained results are analyzed with respect to several criteria for the sake of comparison.