Multi-lift system control was researched based on control input inverse solution. In multi-lift system with slung load,every helicopter has different stability and response due to cable forces influence. It is very difficult to directly introduce cable forces feedback in controller design due to lack of explicit physical transformation from forces to actuators control. According to aerodynamics and flight dynamics, a nonlinear model following control scheme is proposed based on control inputs inverse solution. It is desirable to provide a high degree of stability augmentation for the multi-lift system by using direct cable forces feedback. The most significant improvement is that each helicopter in the multi-lift system has the same control structure and control law, which remarkably simplify design of controller and improve control performance. Controller’s performance is demonstrated in a nonlinear robust simulation.