To overcome the limitations of payload and flight endurance, a hybrid powered multi-rotor system is designed by dual systems which include engine-driven quad-rotor and motor-driven quadrotor. The proposed multi-rotor system is named Quad-in-Quad (QiQ) system. Since the characteristic of high thrust, engine takes in charge of major lift of the system. To provide stable lift, microprocessor control system is designed and implemented to make gas engine control speed precisely in both directions. Linearization of input and output makes engine be controlled with PID controller. And step response tests have completed on engines to achieve the precise RPM control and similar characteristics of four engines, which helps the stability flight control of the system.