Helicopter full envelop attitude controller based on quantitative feedback theory (QFT) is proposed in this paper for solving the problem of system uncertainties due to the wide rage variations of mathematical models of helicopter in the flight envelop. This paper firstly gives a review and discussion of the principles and basic design procedure of QFT for multiple-input multiple-output (MIMO) system, and then applies QFT for the full envelop attitude control of UH-60 with 6 different flight statuses. The research results show that QFT method can successfully resolve the robust problem of flight control system in the presence of model parameter uncertainties, and also show that this method has good engineering applicability.