From Micro Air Vehicle (MAV) flight control system's basic constitution, this paper discusses MAV flight controller's performance criteria, robustness criteria, security criteria and control energy criteria. The linear model approach is presented based on MAV parametric uncertainty such as mass, span, length of fuselage, placement of mass, flight velocity, and aerodynamic compute errors. The MAV flight controller's Δ-P-K architecture is built, and generalized plant transfer function matrix obtained. And further more, we discusses the μ-synthesis approach by which MAV flight controller is designed.