Near-space glide vehicle motion was modeled by nonlinear longitudinal dynamic equations. The Inverse system of this model was obtained by using dynamic inversion approach. The relative degree of dynamic model was equal to the rotational motion system order, so rotational motion dynamic model could be Input/Output linearization completely. The dynamic inversion method and optimal control were used in inner-loop and outer-loop for the longitudinal dynamic model. Simulation studies demonstrate that the proposed controller tracks the pitch angle or angle of attack command accurately, meets the performance requirements with acceptable control inputs and is robust with respect to the parametric uncertainties and external disturbance.