The level of autonomy of the Unmanned Aerial Vehicle (UAV) has being an issue for long. One of the most significant milestones is the autonomous take off and landing capability. There are several recovery / landing methods applicable on UAVs, such as net recovery, parachute and etc. However, most comes with the penalty of weight restriction, structural reinforcement, and extra maintenance considerations for the onboard equipments. This paper presents part of the preliminary efforts of the Remotely Piloted Vehicle and Micro-Satellite Laboratory (RMRL) of National Cheng Rung University (NCKU), Taiwan in developing a low cost autonomous runway landing control system. The UAV used is the SWAN, an UAV developed by RMRL in the past few years. The design process includes the system identification on the dynamics of the UAV by using the Observer Kaiman Identification Method (OKID), the design of the control system by using PID design method for both descend and flare, and the verification of the controllers in a computer simulation. These efforts are hope to be the basis of the realization of the autonomous landing control in the future.