In this thesis a new approach to handle actuator constraints in Dynamic Inversion control is presented. The focus is on systems, whose Jacobian matrix have no full rank. These systems require Dynamic Extension in order to apply a Dynamic Inversion controller. The classic strategy to account for actuator constraints in Dynamic Inversion control is Pseudo Control Hedging. The main part of this thesis covers a new approach to combine Dynamic Extension and Pseudo Control Hedging. This enables the application of Dynamic Inversion to a new class of systems. An important aspect of the implementation of the suggested control strategy is to consider the behaviour of inner system states. These have to be kept within desired limits in various technical applications to guarantee a save operation of the complete system. This is accomplished via numerical optimisation, using an offline algorithm. The results of this optimisation are used to parametrise the Dynamic Inversion controller. This procedure ensures that the closed feedback loop behaves as desired. The feasibility of the proposed feedback control law is demonstrated in a Hardware-in-the-Loop simulation of an Unmanned Aerial Vehicle in form of a quadrotor. This system has a Jacobian with no full rank and also limited actuator performance. Therefore, both Dynamic Extension and Pseudo Control Hedging are required for the implementation of a Dynamic Inversion controller. Furthermore, constrained system states are taken into account. The Hardware-in-the-Loop simulation covers all aspects appearing in a real world scenario, such as sensor noise and wind. Two different scenarios, an indoor and an outdoor mission, are analysed. The performance evaluation of the introduced Dynamic Inversion control concept includes a comparison to a classic cascade controller strategy for the quadrotor.