The aim of this work is to provide a comparison between three methods to control a quad-copter. Simulation results show that PID is more suitable for linear plans, where it gave satisfactory outcome near equilibrium, but it wasn't able to control the quad-copter for all state values. To suit the nonlinear nature of the PID, we used Gain-scheduling method, based on multiple controllers, each one for a specific operation point. However, this method had spikes in the control inputs. Finally, simulation results show that Backstepping controller is the more suitable to handle nonlinearities plans.