In this paper, the robust controller design problem of uncertain multi-input multi-output nonlinear non-minimum phase system is discussed. The nonlinear system is suffering from both uncertainty and input delay, so the controller design is difficult. The traditional stable inversion controller is utilized and extended to uncertain case. An integral of past control input is constructed and fuzzy logical system is utilized for approaching the unknown state matrix and input matrix. Then a robust adaptive control strategy is presented. Finally, a numerical simulation on vertical takeoff and landing aircraft is given to show the effectiveness of the proposed method.