Traditional integrated flight/fire control system uses a proportion-integral-differential(PID) structured flight/fire coupler, which results in lack of robustness and huge design workload. A synthesis method based on inverse dynamics and online parameter identification was developed and was directly used to design the attitude controller in the integrated control system. The inverse dynamics in analytical form was obtained by deducting the dynamic equation of aircraft rotation. The aerodynamic parameters wear estimated through online parameter identification method and were used for actuator deflect allocation. Digital simulation using a six degree-of-freedom nonlinear aircraft model was conducted, which demonstrates rapid response, good decouple performance among axes, and good robustness with respect to aerodynamic model error. The proposed method can be also applied to general aircraft attitude controller design.