For VTOL control, the most challenging part is the transition. There is a large amount of literature on the VTOL transition, but so far there is still no perfect solution for the problem. When compared to the other transition strategies, we want to find a method that can enable the transition flight stable, reliable, and fully controlled without significantly altitude drop or gaining (in order to avoid the potential collisions). Moreover, the method should uniformly treat the hovering and forward flight mode, and enable continuous transition between these two modes. Actually, the controller should not distinguish the flight modes, and the attitude should depend on the given velocity, this feature will make the flying experience much easier. Besides, this framework can also be used off-line to analyze the VTOL's equilibrium state (trimmed condition), especially when wind gust is present. Above all are the background and significance of this research, the following sections are the research summary and plan.