This paper deals with developing a non-linear control system and implementing it on the Quadrotor UAV with the help of MATLAB simulation. Initially, a mathematical model of the system is obtained with help of the nonlinear dynamics for the quadcopter, derived with the help of Newtonian and Eulerian formulations. Thus, the model obtained includes the aerodynamic effects and rotor dynamics of the quadrotor. Further on, after the derivation of the mathematical model, control algorithms are developed for the orientation and position controls of the quadrotor in three-dimensional space. The two approaches developed are Sliding Mode Control (SMC) and Proportional Integral Differential controller. The design parameters of the SMC controller are optimized using a Genetic Algorithm (GA) to obtain better system dynamic performance. Simulations were used for evaluation and comparison of the performances of the two developed control techniques between their dynamic performances and stability in both linear and nonlinear operative regions.